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복싱 로봇의 모션구현을 위한 3자유도 링크형 병렬 머니퓰레이터의 역기구학 해석
윤조앤(Joanne Yoon),이경보(Kyung Bo Lee),김지수(Ji Su Kim),정재익(Jea Ik Jung),최용욱(Yong Uk Choi),김동환(Dong Hwan Kim) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
In this paper, a 3-DOF rotary type parallel manipulator was proposed. The manipulator was designed for a boxing robot in order to train and exercise the user. Unlike other parallel manipulators, the proposed manipulator was developed using rotary actuators. For that reason, we suggest a new method for solving inverse kinematics of rotary type parallel manipulator. Through doing experiments for the manipulator, the solutions were validated. The results were employed to the control of the boxing robot motion.