REDUNDANTLY ACTUATED PARALLEL MECHANISM
According to an embodiment of the present invention, a redundantly actuated parallel mechanism comprises: a support unit; a first link of which one end is supported to be rotated in the support unit; a second link of which one end is rotatably connected to an other end of the first link; a first act...
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| Format: | Patent |
| Sprache: | eng ; kor |
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| Zusammenfassung: | According to an embodiment of the present invention, a redundantly actuated parallel mechanism comprises: a support unit; a first link of which one end is supported to be rotated in the support unit; a second link of which one end is rotatably connected to an other end of the first link; a first actuator provided on a lower portion of the first link to control rotation of the first link; a second actuator provided on an upper portion of the first link to control rotation of the second link; and a redundantly actuated device provided in a longitudinal direction of the first link.
본 발명의 실시예에 따른 여유구동형 병렬기구는, 지지부; 상기 지지부에 일단이 회전 가능하도록 지지되는 제1 링크; 일단이 상기 제1 링크 타단에 회전 가능하도록 연결되는 제2 링크; 상기 제1 링크 하부에 구비되어 제1 링크의 회전을 제어하는 제1 구동기; 상기 제1 링크 상부에 구비되어 제2 링크의 회전을 제어하는 제2 구동기; 및 상기 제1 링크 길이 방향으로 구비되는 여유 구동장치; 를 포함한다. |
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