복싱 로봇의 모션구현을 위한 3자유도 링크형 병렬 머니퓰레이터의 역기구학 해석

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.