Development of a new 3T1R type cable-driven haptic device
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Cho, Youngsu | - |
dc.contributor.author | Hong, Taewoo | - |
dc.contributor.author | Cheong, Joono | - |
dc.contributor.author | Yi, Byung-Ju | - |
dc.contributor.author | Kim, Wheekuk | - |
dc.contributor.author | Jeong, Hyunhwan | - |
dc.date.accessioned | 2021-08-30T09:42:38Z | - |
dc.date.available | 2021-08-30T09:42:38Z | - |
dc.date.created | 2021-06-18 | - |
dc.date.issued | 2020-11 | - |
dc.identifier.issn | 1738-494X | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/51983 | - |
dc.description.abstract | In this work, structural synthesis of lower-mobility cable-driven parallel mechanisms (CDPMs) is conducted to clearly identify all feasible structures of the lower-mobility CDPMs with n-degrees-of-freedom, which are driven by n +1 cables fixed on the ground. Through the synthesis, geometric information of various and some new promising structures of unconstrained and constrained lower-mobility CDPMs such as actuation cable wrenches, cable position vector, and required constraint wrenches, are successfully extracted. Then a promising 3T1R type CDPM structure is selected to develop as a haptic device. Its position analysis is conducted and its input-to-output force model is derived. Also, its feasible workspace and its input-to-output force transmission characteristics are examined. Then a prototype haptic device is implemented which is controlled by Raspberry Pi microprocessors. Through a virtual wall following operation by the operator, its operational capability as a haptic device is verified. | - |
dc.language | English | - |
dc.language.iso | en | - |
dc.publisher | KOREAN SOC MECHANICAL ENGINEERS | - |
dc.subject | STABILITY ANALYSIS | - |
dc.subject | DESIGN | - |
dc.subject | ROBOT | - |
dc.subject | MANIPULATORS | - |
dc.subject | IMPLEMENTATION | - |
dc.subject | WORKSPACE | - |
dc.subject | MECHANISM | - |
dc.title | Development of a new 3T1R type cable-driven haptic device | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Cheong, Joono | - |
dc.contributor.affiliatedAuthor | Jeong, Hyunhwan | - |
dc.identifier.doi | 10.1007/s12206-020-1029-z | - |
dc.identifier.scopusid | 2-s2.0-85096217591 | - |
dc.identifier.wosid | 000591219000031 | - |
dc.identifier.bibliographicCitation | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, v.34, no.11, pp.4721 - 4734 | - |
dc.relation.isPartOf | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.title | JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | - |
dc.citation.volume | 34 | - |
dc.citation.number | 11 | - |
dc.citation.startPage | 4721 | - |
dc.citation.endPage | 4734 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART002642362 | - |
dc.description.journalClass | 1 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | STABILITY ANALYSIS | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordPlus | ROBOT | - |
dc.subject.keywordPlus | MANIPULATORS | - |
dc.subject.keywordPlus | IMPLEMENTATION | - |
dc.subject.keywordPlus | WORKSPACE | - |
dc.subject.keywordPlus | MECHANISM | - |
dc.subject.keywordAuthor | Cable-driven parallel mechanism | - |
dc.subject.keywordAuthor | Force-moment equilibrium condition | - |
dc.subject.keywordAuthor | Lower-mobility | - |
dc.subject.keywordAuthor | Structural synthesis | - |
dc.subject.keywordAuthor | Cable-driven haptic device | - |
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