4-RRR Parallel Manipulator의 기구적 해석 및 제어

It is well known that parallel manipulator has various advantages compared with serial manipulator. Nevertheless, parallel manipulator has some problems in occurring of the singularity not in special position and the narrowness of work space. In parallel manipulator, singularity shows that singularity loci has a big difference according to link shapes, link joint position and so on. It is hard to analysis in 3RRR parallel manipulator and the efficiency of work space are lower than the other manipulator 'because non-linear singularity loci is. happened by the existence of moving plate. 4RRR parallel manipulator being applied from redundant actuation system can, however, predict the singularity loci varying with linear according to the rotation angle of moving plate. It is able to design a mechanism that is analysed in singularity section and does not happen any singularity at least. Therefore the manufactured 4RRR parallel manipulator can be controled to avoid singularity loci.