지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 694 - 698 (5page)
이용수
초록· 키워드
오류제보하기
This paper presents inverse dynamics equations for a 3-UPS mechanism using virtual work principle. This mechanism has three UPS legs connecting the base to a triangular platform. By changing the orientation of leg"s actuators a non-symmetric mechanism with a suitable workspace near the origin without any singularity is obtained. Direct and inverse kinematics Jacobian matrices of the mechanism are obtained by the Newton-Euler approach. Then the inverse dynamics problem is solved using the principle of virtual work, so that the force and torque of active actuators have been obtained by having external forces (force and torque) acted on the platform. Force analysis of the 3-UPS mechanism has been done in the whole workspace without any singularity. Studying several situations of the platform shows that the ranges of the magnitudes of the forces and torques of the active actuators in this mechanism are reasonable, and typical actuators can support them.
목차
Abstract
1. INTRODUCTION
2. MECHANISM’S KINEMATICS ANALYSIS
3. FORCE ANALYSIS OF MECHANISM
4. RESULTS
5. CONCLUSION
REFERENCES
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