Forward Kinematic Singularity Avoiding Design of a Schonflies Motion Generator by Asymmetric Attachment of Subchains
DC Field | Value | Language |
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dc.contributor.author | Kim, Sung Mok | - |
dc.contributor.author | Yi, Byung-Ju | - |
dc.contributor.author | Kim, Wheekuk | - |
dc.date.accessioned | 2021-09-06T04:53:15Z | - |
dc.date.available | 2021-09-06T04:53:15Z | - |
dc.date.created | 2021-06-14 | - |
dc.date.issued | 2013-02 | - |
dc.identifier.issn | 1598-6446 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/104124 | - |
dc.description.abstract | In most of the previous studies on parallel mechanisms (PMs), architectural design mainly relying on symmetric geometry was investigated without in-depth analysis of its performance. This work demonstrates that such a symmetric geometry of multiple subchains sometimes induces a forward kinematic singularity which degrades the overall kinematic performance of PMs within the desired workspace and claims that an asymmetric attachment of those subchains on a moving platform can effectively resolve such a singularity problem. A 4-Degree-of-Freedom (DOF) PM exhibiting Schonflies motions is examined as an example device. First, its mobility analysis and kinematic modeling via screw theory are conducted. Then a singularity analysis based on Grassmann line geometric conditions is carried out, and the forward kinematic singularities of the mechanism are identified and verified by simulations. Based on these analysis and simulations, a forward kinematic singularity-free design is suggested. To show the high potential of the device in practical applications, its output stiffness and dynamic motion capability are examined. Then a prototype is built and its motions capability is verified through experiments. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS | - |
dc.subject | PARALLEL MANIPULATORS | - |
dc.subject | 4-DOF | - |
dc.subject | MECHANISMS | - |
dc.subject | MOBILITY | - |
dc.subject | ROBOT | - |
dc.title | Forward Kinematic Singularity Avoiding Design of a Schonflies Motion Generator by Asymmetric Attachment of Subchains | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Kim, Wheekuk | - |
dc.identifier.doi | 10.1007/s12555-012-0005-5 | - |
dc.identifier.scopusid | 2-s2.0-84873832208 | - |
dc.identifier.wosid | 000314301400013 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.11, no.1, pp.116 - 126 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.citation.title | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.citation.volume | 11 | - |
dc.citation.number | 1 | - |
dc.citation.startPage | 116 | - |
dc.citation.endPage | 126 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART001737427 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.subject.keywordPlus | PARALLEL MANIPULATORS | - |
dc.subject.keywordPlus | 4-DOF | - |
dc.subject.keywordPlus | MECHANISMS | - |
dc.subject.keywordPlus | MOBILITY | - |
dc.subject.keywordPlus | ROBOT | - |
dc.subject.keywordAuthor | Forward kinematic singularity | - |
dc.subject.keywordAuthor | kinematic design | - |
dc.subject.keywordAuthor | mobility analysis | - |
dc.subject.keywordAuthor | parallel mechanism | - |
dc.subject.keywordAuthor | Schonflies motion | - |
dc.subject.keywordAuthor | singularity analysis | - |
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