Abstract

The Six Degree-of-Freedom manipulators are generally operated by linear actuators which are hydraulic cylinder, pneumatic cylinder, ball-screw. But these actuators are not adequate to have a wide work-space, and furthermore some of them have a self-locking property. Therfore, we have designed a new manipulator which fully overcomes these demerits. The new manipulating system consists of 6 DC-motors to generate operation forces and 6 position transducers to feedback displacement signals. This paper presents an overview of the design and characteristics of 6 Degree-of-Freedom force feedback manipulators for vitual reality implementation. we can operate Six Degree-of-Freedom manipulator with six motors and six potentiometers.

Keywords

• 6 Degree-of-Freedom;
• Manipulator;
• Forward Kinematics;
• Inverse Kinematics;
• Stewart Platform

• 6자유도;
• 조작장치;
• 순기구학;
• 역기구학;
• 스튜어트 플랫폼;