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Design of a new 6-DOF parallel mechanism with a suspended platform

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Abstract

This paper deals with the kinematics and analysis of a new parallel mechanism with a suspended platform. The proposed mechanism has a unique appearance in that the 6 chains originating from a circular ring are connected to the both ends of a suspended platform. After introducing the kinematics, the architecture singularity problem is analyzed. Then, the kinematic characteristics of this mechanism are analyzed with respect to the workspace and the isotropic index. Kinematic optimization of this mechanism was also performed. Finally, the proposed robot was employed as an automatic device for otologic surgery.

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Correspondence to Byung-Ju Yi.

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Recommended by Associate Editor Yangmin Li under the direction of Editor Hyouk Ryeol Choi.

This work was supported by the Technology Innovation Program (10040097) funded by the Ministry of Trade, Industry and Energy Republic of Korea (MOTIE, Korea), supported by Mid-career Researcher Program through NRF grant funded by the MEST (NRF-2013R1A2A2A01068814), and supported by the Technology Innovation Program (10049789, Steering and driving mechanism for Cardio-vascular intervention procedure) funded by the Ministry of Trade, Industry & Energy(MOTIE, Korea). This work performed by ICT based Medical Robotic Systems Team of Hanyang University, Department of Electronic Systems Engineering was supported by the BK21 Plus Program funded by National Research Foundation of Korea (NRF).

Hoon Lim received his B.S. degree in Electrical Engineering and M.S. degree from the Department of Electronic, Electrical, Control and Instrumentation Engineering from Hanyang University, Korea, in 2005 and 2007, respectively. He is working toward a Ph.D. degree at Hanyang University. His research interests include parallel robot mechanism and surgical robot system.

Sang-Heon Lee graduated with the B.S. degree in Precision Mechanical Engineering from Hanyang University, Seoul, Korea in 1992. He received his M.S. degree in Precision Engineering from KAIST, Daejeon, Korea in 1994, and the PhD degree in Mechanical Engineering from KAIST in 2001. Currently, he is a senior researcher in Research Institute of Construction Equipment, Samsung C&T Corporation, Korea. His research interests include the design, analysis, control and application of multi-body parallel mechanism, and robotic application in construction.

Byung-Rok So received his B.S. and M.S. degrees from the Control and Instrumentation Engineering, Hanyang University, Korea, in 1997 and 2000, respectively, and Ph.D. degree from the Electronics, Electrical, Control and Instrumentation Engineering, Hanyang University in 2006. Currently, he is a senior researcher in Robotics R&BD Group, the Korea Institute of Industrial Technology (KITECH). His research interests include design and control of humanoid and android robot, the modeling of redundant and parallel mechanism, and impact control.

Byung-Ju Yi received his B.S. degree from Hanyang University, Seoul, Korea, in 1984, and his M.S. and Ph.D. degrees from the University of Texas at Austin, Austin, TX, USA, in 1986 and 1991, respectively, all in Mechanical Engineering. From January 1991 to August 1992, he was a Postdoctoral Fellow with the Robotics Group, University of Texas at Austin. From September 1992 to February 1995, he was an Assistant Professor in the Department of Mechanical and Control Engineering, Korea Institute of Technology and Education, Chonan, Korea. In March 1995, he joined the Department of Control and Instrumentation Engineering, Hanyang University, Seoul, Korea. He is currently a Professor with the Department of Electronic Systems Engineering, Hanyang University, Seoul, Korea. He was a Visiting Professor at The Johns Hopkins University in the USA in 2004 and a JSPS Fellow at Kyushu University in Japan in 2011, respectively. His research interests include general robot mechanics with application to surgical robotic systems (ENT, neurosurgical, and needle insertion areas), pipeline inspection robots, and ubiquitous sensor network-based robotics. Dr. Yi is a member of the IEEE Robotics and Automation Society and served as an Associate Editor of the IEEE Transactions on Robotics from 2005 to 2008. Currently, he is serving as a Board Member of the Korean Robotics Society, the Korean Society of Medical Robotics, and the International Society of Computer Aided Surgery.

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Lim, H., Lee, SH., So, BR. et al. Design of a new 6-DOF parallel mechanism with a suspended platform. Int. J. Control Autom. Syst. 13, 942–950 (2015). https://doi.org/10.1007/s12555-014-0123-3

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  • DOI: https://doi.org/10.1007/s12555-014-0123-3

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