Design and analysis of decoupled parallel mechanism with redundant actuator View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2009-10

AUTHORS

Sun Ho Kim, Dongsu Jeon, Hyun Pyo Shin, Woosung In, Jongwon Kim

ABSTRACT

This paper presents a redundantly actuated six degrees-of-freedom parallel kinematic mechanism with a partially decoupled architecture in its rotational motion. This mechanism is developed to eliminate kinematic complexity of original Eclipse-II known as a redundant parallel mechanism. Since the original Eclipse-II mechanism use kinematic redundancy of parallel mechanism to achieve an advantage in enlarging the workspace of the system, it needs a motion planning algorithm to choose the specific control inputs to determine the desired motion trajectory. This motion planning algorithm causes difficulty in achieving real-time control performance due to its structural complexity. However the redundant parallel mechanism presented in this paper is a redundant parallel mechanism with partially decoupled architecture in its rotational motion. Therefore modified Eclipse-II redundant parallel mechanism can realize effective real-time control performances and continuous 360-degree rotational motion in any direction of the moving platform with six degrees of freedom. More... »

PAGES

93

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/s12541-009-0076-2

DOI

http://dx.doi.org/10.1007/s12541-009-0076-2

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1001202574


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