평면형 3자유도 병렬 메커니즘의 여유 구동 특성 분석
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 전정인 | - |
dc.contributor.author | 오현석 | - |
dc.contributor.author | 우상훈 | - |
dc.contributor.author | 김성목 | - |
dc.contributor.author | 김민건 | - |
dc.contributor.author | 김희국 | - |
dc.date.accessioned | 2021-09-03T12:44:15Z | - |
dc.date.available | 2021-09-03T12:44:15Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2017 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/85601 | - |
dc.description.abstract | A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 평면형 3자유도 병렬 메커니즘의 여유 구동 특성 분석 | - |
dc.title.alternative | Analysis of the Redundant Actuation Characteristics of the Planar 3-DOF Parallel Mechanism | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 김희국 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.12, no.2, pp.194 - 205 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 12 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 194 | - |
dc.citation.endPage | 205 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART002226547 | - |
dc.description.journalClass | 2 | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Redundant Actuation | - |
dc.subject.keywordAuthor | Parallel Mechanism | - |
dc.subject.keywordAuthor | Singularity Analysis | - |
dc.subject.keywordAuthor | Kinematic Characteristics | - |
dc.subject.keywordAuthor | Haptic device | - |
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