Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2022-08-17T01:32:01Z | - |
dc.date.available | 2022-08-17T01:32:01Z | - |
dc.date.issued | 2021-07 | - |
dc.identifier.citation | IEEE ROBOTICS AND AUTOMATION LETTERS, v. 6, NO 4, Page. 6947-6954 | en_US |
dc.identifier.issn | 23773766 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/9483658 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/172477 | - |
dc.description.abstract | In this letter, we introduced a novel 2-DOF robotic wrist with a hollow channel. The proposed wrist was developed by stacking two symmetric 5R spatial manipulators using a reverse motion transmission mechanism. As a result, the proposed wrist mechanism has not only a wide workspace, but also a huge hollow space compared to previous wrist models. The kinematic model is derived via the screw theory, and kinematic characteristics are analyzed in terms of two kinematic indices. The prototype hardware of compact size wrist was designed and implemented. Finally, the validity and feasibility of the wrist were confirmed through experiments. | en_US |
dc.description.sponsorship | This work was supported in part by New Science Researcher Supporting Program under Grants NRF-2016R1C1B1012815 and NRF-2019R1H1A1080161 funded by National Research Foundation of Korea (NRF). And this research was funded by the Technology Innovation Program under Grant 20001856, in part by Development of Robotic Work Control Technology Capable of Grasping and Manipulating Various Objects in Everyday Life Environment Based on Multimodal Recognition and Using Tools) funded by the Ministry of Trade, Industry and Energy (MOTIE, Korea) and was supported by BK21 FOUR (Fostering Outstanding Universities for Research) funded by National Research Foundation of Korea (NRF). | en_US |
dc.language.iso | en | en_US |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | en_US |
dc.subject | Mechanism design | en_US |
dc.subject | parallel robots | en_US |
dc.subject | grippers and other end-effectors | en_US |
dc.title | Development of a New 2-DOF Wrist Mechanism Using Reverse Motion Transmission | en_US |
dc.type | Article | en_US |
dc.relation.no | 4 | - |
dc.relation.volume | 6 | - |
dc.identifier.doi | 10.1109/LRA.2021.3096504 | - |
dc.relation.page | 6947-6954 | - |
dc.relation.journal | IEEE ROBOTICS AND AUTOMATION LETTERS | - |
dc.contributor.googleauthor | Jeong, Hyunhwan | - |
dc.contributor.googleauthor | Shin, Hyunseok | - |
dc.contributor.googleauthor | Yi, Byung-ju | - |
dc.relation.code | 2021002457 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | SCHOOL OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | bj | - |
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