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ABSTRACT

 

Formulation of Unique Form of Screw Based Jacobian for Lower Mobility Parallel Manipulators 

 

Hong, Man Bok

Year 2011

 

 In this paper, the unique form of the screw based Jacobian is suggested for lower mobility parallel manipulators. Utilizing the concept of the reciprocal Jacobian, the forward statics relation for each of the serial kinematic chains of a parallel manipulator can be first obtained and then used to derive both the forward statics and the inverse velocity relations of the manipulator. The screw based Jacobian of a parallel manipulator can be formulated from the inverse velocity relation in such a way that it consists of the reciprocal Jacobians of the serial kinematic chains. Since any reciprocal Jacobian is unique to the corresponding serial chain, the suggested form of the screw based Jacobian is also determined uniquely to the lower mobility parallel manipulator. Two examples are given to illustrate the proposed method, one for the 3DOF parallel manipulator with three identical prismatic-revolute-spherical joints-serial chains and the other for the 4DOF parallel manipulator with nonidentical serial chains (two spherical-prismatic-spherical- and one revolute-revolute-prismatic-revolute joints-serial chains).

 

Mechatronics & Robotics Lab at Yonsei Univ., Korea

 

 

제목
J W Kim, S Lee, Y J Choi, "Design method of planar vibration system for specified ratio of energy peaks," Journal of Sound and Vibration (2015), http://dx.doi.org/10.1016/j.jsv.2015.01.016i
J. W. Kim, M. B. Hong, Y. J. Choi, "New jacobian approach to the kinestatic analysis of a planar double-wishbone suspension mechanism", Proc. IMechE, Part D: Journal of Automobile Engineering, 2013.
S. J. Jang, J. W. Kim, Y. J. Choi, "Triangular relationship between vibration modes of an elastically supported rigid body with a plane of symmetry", Proc. IMechE, Part C: Journal of Mechanical Engineering Science Vol. 226 No. 5 , pp.1254-1262, 2012.
M. B. Hong, Y. J. Choi, "Design method of planar three-degrees-of-freedom serial compliance device with desired compliance characteristics", the Institution of Mechanical Engineers, Mechanical engineering science Vol. 226 No.9, pp.2331-2344, 2012.
M. B. Hong, Y. J. Choi, "Formulation of Unique Form of Screw Based Jacobian for Lower Mobility Parallel Manipulators", Journal of mechanisms and robotics Vol .3, pp.1-6, 2011.
M. B. Hong, Y. J. Choi, "Design method of planar three-degrees-of-freedom serial compliance device with desired compliance characteristics", The Institution of Mechanical Engineers, Mechanical engineering science Vol. 226 No.9, pp.2331-2344, 2012.
M. B. Hong, Y. J. Choi, "Formulation of Unique Form of Screw Based Jacobian for Lower Mobility Parallel Manipulators", Journal of mechanisms and robotics Vol .3, pp.1-6, 2011.
M. B. Hong, Y. J. Choi, "The conditions for mode decoupling of a linear vibration system with diagonalizable stiffness matrices via screw theory“, Proceedings of the Institution of Mechanical Engineers. Part C, Mechanical engineering science Vol. 225
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