특정 병진작업경로에서 최소의 관절힘을 받는 병렬형 매니퓰레이터의 설계

Design of the Parallel Manipulator for Minimizing the Extreme Articular Force in the Specific Translation Trajectory

Recently, need of the parallel manipulator requiring superior precision is increasing for medical application and precision manufacturing. In this study, we convert a given complex translation trajectory of the moving platform into a set of segments and hence a complex motion of the moving platform can be tractable and easily controled in a very limited workspace. In addition force exerted. to each link is minimized so that the minimized force can be transmitted to the end effector of the moving platform. An user friendly program is developed to design Gough-type 6DOF parallel manupulator based on the proposed method.