스튜어트플랫폼의 설계방법에 대한 연구
A Study of Design method of the Stewart platform
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초록
This study deals with the design of the Stewart platform for an efficient 6 Degrees of Freedom (DOF) motion of a ship. The general methods of study of the Stewart platform – forward and inverse kinematics – are complex in nature, and are only applicable in limited and specific cases. In order to study the reduction of design time of the Stewart platform, the (please write the full form) DMU module supported by 3D CAD is used. The results show that the DMU module can easily identify the Stewart platform's clash and movements. In addition, it was also possible to calculate motor control data necessary for the prototype manufacturing process. Comparing the Upper plate angle displacement error of the prototype and the DMU results, the error range was found to be 1.5%.
Abstract
This study deals with the design of the Stewart platform for an efficient 6 Degrees of Freedom (DOF) motion of a ship. The general methods of study of the Stewart platform – forward and inverse kinematics – are complex in nature, and are only applicable in limited and specific cases. In order to study the reduction of design time of the Stewart platform, the (please write the full form) DMU module supported by 3D CAD is used. The results show that the DMU module can easily identify the Stewart platform's clash and movements. In addition, it was also possible to calculate motor control data necessary for the prototype manufacturing process. Comparing the Upper plate angle displacement error of the prototype and the DMU results, the error range was found to be 1.5%.
참고문헌 (7)
- The Glodman Sachs, EQUITY RESEARCH, The Glodman Sachs Group, "The IMO 2020 : Global Shipping's Blue Sky Moment", 5~16 (2018)
- 권창섭, "160K LNGC 멤브레인 화물창에 작용하는 슬로싱 충격 하중에 대한 비교 실험 연구", 대한조선학회 논문집, 56(2), pp.103~108 (2019), 대한조선학회[DOI]
- 정태은, "1인승 모션 시뮬레이터의 동적 거동 해석", 한국기계기술학회지, 11(4), pp.1~6 (2009), 한국기계기술학회[DOI]
- 차은엽, "4절 링크를 활용한 소형 6족 보행 로봇", 한국기계기술학회지, 20(6), pp.912~916 (2018), 한국기계기술학회[DOI]
- N. -I. Kim, "A New Kinematics Analysis of 6-3 Stewart Platform Manipulator", The Korean Society of Mechanical Engineers, 25(8), pp.1206~1212 (2001)
- Weck, M., "On the Accuracy of Parallel Kinematic Machine Tools: Design, Compensation and Calibration", 2rd Chemnitz Parallel Kinematics Seminar, pp.73~84 (2002)