Design of a New 6-DOF Parallel Mechanism with a Suspended Platform

被引：13
|
作者：
Lim, Hoon [1 ]
Lee, Sang-Heon [2 ]
So, Byung-Rok [3 ]
Yi, Byung-Ju [1 ]
机构：
[1] Hanyang Univ, Dept Elect Syst Engn, Ansan 426791, Gyeonggi Do, South Korea
[2] Samsung C&T Corp, Res Inst Construct Equipment, Seoul, South Korea
[3] Korea Inst Ind Technol KITECH, Robot R BD Grp, Ansan 426791, Gyeonggi, South Korea
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2015年 / 13卷 / 04期
基金：
新加坡国家研究基金会;
关键词：
Architecture singularity; 6-DOF parallel mechanism; suspended platform;
D O I：
10.1007/s12555-014-0123-3
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper deals with the kinematics and analysis of a new parallel mechanism with a suspended platform. The proposed mechanism has a unique appearance in that the 6 chains originating from a circular ring are connected to the both ends of a suspended platform. After introducing the kinematics, the architecture singularity problem is analyzed. Then, the kinematic characteristics of this mechanism are analyzed with respect to the workspace and the isotropic index. Kinematic optimization of this mechanism was also performed. Finally, the proposed robot was employed as an automatic device for otologic surgery.
引用
收藏
页码：942 / 950
页数：9
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