본문 바로가기
  • 학술대회자료

표지

DBpia에서 서비스 중인 논문에 한하여 피인용 수가 반영됩니다. 내서재에 논문을 담은 이용자 수의 총합입니다.

초록·키워드 목차

In our pervious paper, a new parallel-type spherical 3-degree-of-freedom mechanism consisting of a two-degree-of-freedom parallel module and a serial RRR subchain was proposed[1]. In this paper, its improved version is suggested and implemented. Differently from the previous 3-dof spherical mechanism, gear chains are incorporated into the current version of the mechanism to drive the distal revolute joint of the serial subchain from the base of the mechanism and in fact, the modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, after a brief description on its structure, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model of the mechanism for the inputs which are assumed to be located at the base is derived. Thirdly, through the simulations of the kinematic analysis via. kinematic isotropic index, it is confirmed that the mechanism has much more improved isotropic properties throughout the workspace of the mechanism than the previous mechanism in [1]. Lastly, the proposed mechanism is implemented to verify the results from this analysis. #parallel mechanism(병렬 메커니즘) #position analysis(위치해석) #kinematic analysis(기구학 분석) #isotropic index(등방성 지수)

ABSTRACT
1. 서론
2. 병렬형 구형 3자유도 메커니즘
3. 위치해석
4. 일차 기구학 해석
5. 결론
후기
참고문헌

저자의 논문

DBpia에서 서비스 중인 논문에 한하여 피인용 수가 반영됩니다.
Insert title here
논문의 정보가 복사되었습니다.
붙여넣기 하세요.