기계식 중력보상 기반의 중량물 취급용 5자유도 로봇머니퓰레이터의 개발
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 송승우 | - |
dc.contributor.author | 송재복 | - |
dc.date.accessioned | 2021-09-04T07:09:24Z | - |
dc.date.available | 2021-09-04T07:09:24Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2016 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/90970 | - |
dc.description.abstract | A robot manipulator handling a heavy weight requires high-capacity motors and speed reducers, which increases the cost of a robot and the risk of injury when a human worker is in collaboration with a robot. To cope with this problem, we propose a collaborative manipulator equipped with a counterbalance mechanism which compensates mechanically for a gravitational torque due to the robot mass. The prototype of the manipulator was designed on the basis of a four-bar linkage structure which contains active and passive pitch joints. Experimental performance evaluation shows that the proposed robot works effectively as a collaborative robot. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 기계식 중력보상 기반의 중량물 취급용 5자유도 로봇머니퓰레이터의 개발 | - |
dc.title.alternative | Development of a 5 DOF Manipulator for Weight Handling based on Counterbalance Mechanism | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 송재복 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.11, no.4, pp.242 - 247 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 11 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 242 | - |
dc.citation.endPage | 247 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART002166744 | - |
dc.description.journalClass | 2 | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Robot manipulator | - |
dc.subject.keywordAuthor | Counterbalance mechanism | - |
dc.subject.keywordAuthor | Collaboration | - |
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