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특이형상의 위치를 고려한 병렬 기구의 작업공간 최적설계Workspace Optimal Design of Parallel Mechanisms Reflecting the Singularity Locations
- Other Titles
- Workspace Optimal Design of Parallel Mechanisms Reflecting the Singularity Locations
- Issue Date
- 2012
- Publisher
- 한국로봇학회
- Keywords
- Optimal Design; Useful Workspace; Parallel Mechanism; Singularity Analysis; Screw Theory; Kinematic Analysis
- Citation
- 로봇학회 논문지, v.7, no.2, pp.101 - 112
- Indexed
- KCI
OTHER
- Journal Title
- 로봇학회 논문지
- Volume
- 7
- Number
- 2
- Start Page
- 101
- End Page
- 112
- ISSN
- 1975-6291
- Abstract
- It is well-known that when singularities are located within the workspace of the parallel mechanism (PM), the usefulness of its workspace is significantly deteriorated. To handle this problem, we suggest an optimal design method which leads to more useful and larger workspace of the PM by taking its singularity locations into consideration in design process. Kinematic models of three selected planar PMs, a 5R type PM, a 3-RPR type planar PM, and a 3-RRR type planar PM, are derived via screw theory and their singularity analyses are conducted. Then workspace optimal designs for those three PMs are conducted to verify that the suggested design method leads more useful and larger workspace in which deterioration by singularity is minimal.
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