적층형 4-BAR 메커니즘을 이용한 평면형 메니퓰레이터
- Title
- 적층형 4-BAR 메커니즘을 이용한 평면형 메니퓰레이터
- Other Titles
- Planar Manipulator using Stackable 4-BAR Mechanisms
- Author
- 최영진
- Keywords
- 4-BAR; stackable mechanism; planar manipulator
- Issue Date
- 2010-05
- Publisher
- 제어·로봇·시스템학회
- Citation
- Journal of Institute of Control, Robotics and Systems, v. 16, NO. 5, Page. 456-462
- Abstract
- This paper proposes a new planar robotic manipulator using stackable 4-BAR mechanisms for various applications. The proposed manipulator has an advantage that we can separate the driving actuators from a robotic manipulator. By separating actuators from the manipulator, we are able to separate the electrical component such as electrical wiring from the mechanical linkage/joint components in the robotic manipulator. Also, we suggest the kinematic analysis of the proposed manipulator which is composed of input mechanisms, multiple 4-BAR mechanisms and output mechanisms. Finally, we suggest numerical simulations to show the effectiveness of the proposed manipulator.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01947012https://repository.hanyang.ac.kr/handle/20.500.11754/180909
- ISSN
- 1976-5622
- DOI
- 10.5302/J.ICROS.2010.16.5.456
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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