김종원 박종우 류선중 김진욱 황재철 박창범 Cornel Iurascu 2024-01-21T12:02:58Z 2024-01-21T12:02:58Z 2022-01-10 2001-08 0882-4967 https://pubs.kist.re.kr/handle/201004/140255 This paper describes the design, construction, and performance analysis of the Eclipse, a redundantly actuated six-degree-of-freedom parallel mechanism intended for rapid machining. The Eclipse is a compact mechanism capable of performing five-face machining in a single setup while retaining the advantages of high stiffness and high accuracy characteristic of parallel mechanisms. We compare numerical and algebraic algorithms for the forward and inverse kinematics of a class of the Eclipse and formalize the notion of machine tool workspace. We also develop a simple method for the first-order elasto-kinematic analysis of parallel mechanisms that is amenable to design iterations. A complete characterization of the singularities of the Eclipse is given, and redundant actuation is proposed as a solution. The Eclipse case study demonstrates how diverse analytical tools originally developed in a robotics context can be synthesized into a practical design methodology for parallel mechanisms. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC Design and analysis of a redundantly actuated parallel mechanism for rapid machining Article 10.1109/70.954755 1 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.17, no.4, pp.423 - 434 IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION 17 4 423 434 N scie 000171496000005 Automation & Control Systems Engineering, Electrical & Electronic Robotics Automation & Control Systems Engineering Robotics Article overactuation