Yong Kyu Byun

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Closed-form forward/reverse position solutions for a 6-degree-offreedom (DoF) parallel mechanism that has some type of nonsymmetric geometry are derived in this study. Particularly, the derived forward-position analysis is applicable to the mechanisms in which three passive joints are constrained to move parallel to the moving plate. Its kinematic and(More)
In this paper, the kinematic analysis for a 6 degree-of-freedom parallel manipulator with 3-PPSP type serial subchains is performed and its kinematic characteristics are investigated via isotropic index of the firstorder kinematic influence matrix. Also, dynamic analysis of the manipulator is peiformed and its dynamic characteristics is examined via the(More)
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