지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- Korean Society for Precision Engineering Journal of the Korean Society for Precision Engineering 한국정밀공학회지 Vol.31 No.10
- 발행연도
- 2014.10
- 수록면
- 897 - 904 (8page)
이용수
초록· 키워드
오류제보하기
In this paper, two-DOF parallel manipulator has the sliders which execute a linear reciprocating motion depending on parallel guides and the end-effector which can be adjusted arbitrarily. To investigate the dynamic characteristics of the manipulator, the dynamic performance index is used. The index is able to be obtained by the relation between the Jacobian matrix and the inertia matrix. The kinematic and the dynamic analysis find these matrices. Also, the dynamic model of the manipulator is derived from the Lagrange formula. This model represents complicated nonlinear equations of motion. With the simulation results of the dynamic characteristic of the manipulator, we find that the dynamic performance index is based on the selection of the ranges for the continuous movement of the manipulator and the dynamic model derived can be used to the control algorithm development of the manipulator.
목차
1. 서론
2. 병렬 메니퓰레이터의 동적 모델링
3. 컴퓨터 시뮬레이션
4. 결론
REFERENCES
참고문헌 (16)
참고문헌 신청
Stewart, D. / 1965 / A Platform with Six Degrees of Freedom / Proc. Inst. Mech. Eng. 180:371~386
Lee, M. K. / 2001 / Study on Parallel-Typed Robot and Machining Tool / J. Korean Soc. Precis. Eng. 18(7):9~18
Liu, X. J. / 2003 / A Novel 2-DOF Parallel Mechanism Based Design of a New 5-Axis Hybrid Machine Tool / Proc. of ICRA :3990~3995
Huang, T. / 2004 / Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations / Journal of Mechanical Design 126(3):449~455
Pierrot, F. / 2009 / Above 40g Acceleration for Pick-and-Place with a New 2-DOF PKM / Proc. of ICRA :1794~1800
Lee, M. K. / 2001 / Study on Parallel-Typed Robot and Machining Tool / J. Korean Soc. Precis. Eng. 18(7):9~18
Liu, X. J. / 2003 / A Novel 2-DOF Parallel Mechanism Based Design of a New 5-Axis Hybrid Machine Tool / Proc. of ICRA :3990~3995
Huang, T. / 2004 / Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations / Journal of Mechanical Design 126(3):449~455
Pierrot, F. / 2009 / Above 40g Acceleration for Pick-and-Place with a New 2-DOF PKM / Proc. of ICRA :1794~1800
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UCI(KEPA) : I410-ECN-0101-2015-550-002759842