회전관절만을 활용하는 병진 3자유도 병렬 메커니즘의 기구학 특성 분석
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 박재현 | - |
dc.contributor.author | 김성목 | - |
dc.contributor.author | 김희국 | - |
dc.date.accessioned | 2021-09-04T21:07:01Z | - |
dc.date.available | 2021-09-04T21:07:01Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2015 | - |
dc.identifier.issn | 1975-6291 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/95062 | - |
dc.description.abstract | Two novel parallel mechanisms (PMs) employing two or three PaPaRR subchains are suggested. Each of those two PMs has translational 3-DOF motion and employs only revolute joints such that they could be adequate for haptic devices requiring minimal frictions. The position analyses of those two PMs are conducted. The mobility analysis, the kinematic modeling, and singularity analysis of each of two PMs are performed employing the screw theory. Then through optimal kinematic design, each of two PMs has excellent kinematic characteristics as well as useful workspace size adequate for haptic applications. In particular, by applying an additional redundantly actuated joint to the 2-PaPaRR type PM which has a closed-form position solution, it is shown that all of its parallel singularities within reachable workspace are completely removed and that its kinematic characteristics are improved. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국로봇학회 | - |
dc.title | 회전관절만을 활용하는 병진 3자유도 병렬 메커니즘의 기구학 특성 분석 | - |
dc.title.alternative | Analysis on Kinematic Characteristics of the Revolutejoint- based Translational 3-DOF Parallel Mechanisms | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 김희국 | - |
dc.identifier.bibliographicCitation | 로봇학회 논문지, v.10, no.2, pp.119 - 132 | - |
dc.relation.isPartOf | 로봇학회 논문지 | - |
dc.citation.title | 로봇학회 논문지 | - |
dc.citation.volume | 10 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 119 | - |
dc.citation.endPage | 132 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001998204 | - |
dc.description.journalClass | 2 | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Parallel Mechanism | - |
dc.subject.keywordAuthor | Closed-form Position Solution | - |
dc.subject.keywordAuthor | Kinematic Analysis | - |
dc.subject.keywordAuthor | Redundant Actuation | - |
dc.subject.keywordAuthor | Haptic Device | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
(02841) 서울특별시 성북구 안암로 14502-3290-1114
COPYRIGHT © 2021 Korea University. All Rights Reserved.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.