Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최영진 | - |
dc.date.accessioned | 2023-05-19T04:53:14Z | - |
dc.date.available | 2023-05-19T04:53:14Z | - |
dc.date.issued | 2012-05 | - |
dc.identifier.citation | 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), Page. 1964-1969 | - |
dc.identifier.issn | 1050-4729;2577-087X | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/6224793 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/180896 | - |
dc.description.abstract | This paper proposes a new manipulator concept applied to a mobile robot manipulation system for reducing robot size and weight or increasing its work capacities such as a payload, operating radius, and operating speed. In detail, we propose a new robotic manipulator that uses stackable 4-BAR mechanisms for mobile manipulation robot. The proposed mechanism provides a clear advantage in which all the actuators can be separated from the working joints. Thus, the mechanism is able to select the Center of Mass (CoM) and the Zero-Moment Point (ZMP) in arbitrary points without any support from ZMP controller or ZMP compensation method. To confirm efficiency of the new manipulator, this paper addresses a design method using the simplified beam theory, based on the well-known Finite Element Method (FEM) for structural stiffness analysis of linkages. The reason behind this is that the CoM and ZMP are dependent on the weight of the motors and the linkages. Ultimately, we show the efficiency of the proposed stackable manipulator through simulations and experiments. | - |
dc.description.sponsorship | This work was supported in part by the Ministry of Knowledge Economy (MKE) and Korea Institute for Advancement in Technology (KIAT) through the Work- force Development Program in Strategic Technology, in part by the MKE under the Human Resources Development Program for Convergence Robot Specialists support program supervised by the NIPA (National IT Industry Promotion Agency) (NIPA-2011-C7000-1001-0005), and in part by Furonteer Co., Republic of Korea. | - |
dc.language | en | - |
dc.publisher | IEEE | - |
dc.title | Stackable Manipulator for Mobile Manipulation Robot | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/ICRA.2012.6224793 | - |
dc.relation.page | 1964-1969 | - |
dc.relation.journal | 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | - |
dc.contributor.googleauthor | Lee, Hoyul | - |
dc.contributor.googleauthor | Oh, Yonghwan | - |
dc.contributor.googleauthor | Shon, Woong Hee | - |
dc.contributor.googleauthor | Choi, Youngjin | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 로봇공학과 | - |
dc.identifier.pid | cyj | - |
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