Paper Info
Title
Kinematic Analysis and Implementation of a Spherical 3-Degree-of-Freedom Parallel Mechanism
Abstract
This study was supported by a grant of the Korea Health 21 R&D Project, Ministry of Health & Welfare, Republic of Korea. (02-PJ3-PG6-EV04-0003) Abstract - A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and compared. The first design employs RU joint arrangement for the serial sub chain structure. The second design incorporates a gear chain to drive the distal revolute joint of the serial sub-chain from the base platform of the mechanism. This modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first- order kinematic model with respect to three inputs which are located at the base is derived. Thirdly, it is confirmed through simulation that the modified mechanism has much more improved isotropic characteristic throughout the workspace of the mechanism. Lastly, the proposed mechanism is implemented to verify the results from this analysis.
Year
DOI
Venue
2005
10.1109/IROS.2005.1545080
Journal of the Korean Society for Precision Engineering
Keywords
Field
DocType
closed form solution
Serial module,Parallel manipulator,Degrees of freedom (statistics),Kinematics,Kinematic diagram,Control theory,Computer science,Workspace,Control engineering,Revolute joint,Kinematic chain
Conference
Volume
Issue
Citations 
22
11
4
PageRank 
References 
Authors
0.56
4
5
Name
Order
Citations
PageRank
Seok-Hee Lee17312.66
Whee-Kuk Kim215827.05
Se-Min Oh370.95
Byung-Rok So450.95
Byung-Ju Yi544474.48