마이크로 부품 조립을 위한 평면 3-PRP 정렬기의 역기구학

다국어 초록 (Multilingual Abstract)

In the field of micro-factory, there are demanded on aligning micro-components when they assemble an automatic focusing actuator of camera module for cellular phone and mount a dental crown on artificial root. This paper presents inverse kinematics of three degree-of-freedom (DOF) planar parallel actuated manipulators for the alignment. The 3-PRP (Prismatic-Revolute-Prismatic) manipulator is actuated by the voice coil motors (VCMs). The actuators are arrayed 120° apart symmetrically on the horizontal plate. Numerical simulation of the kinematical motion of 3-PRP manipulator is performed by using inverse kinematics. Furthermore, based on these results, the working range of the manipulator is estimated before experiments. Also, this paper presents control algorithm to drive the manipulator. The control algorithm is using a feedback control based on the inverse kinematics, sensor kinematics and governing equation of VCM. The algorithm controls each VCM independently.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 병렬 플렛폼의 제어
• 3. 3-PRP 정렬기 설명
• 4. 시뮬레이션
• 5. 결론
• 후기
• 참고문헌