Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2019-05-07T06:36:31Z | - |
dc.date.available | 2019-05-07T06:36:31Z | - |
dc.date.issued | 2016-12 | - |
dc.identifier.citation | ROBOTICA, V.34, No.12, Page.2776-2787 | en_US |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.issn | 1469-8668 | - |
dc.identifier.uri | https://www.cambridge.org/core/journals/robotica/article/stiffness-synthesis-of-3dof-planar-3rpr-parallel-mechanisms/351A7074B544613F5EAFDB1743251423 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/103534 | - |
dc.description.abstract | Force control is important in robotics research for safe operation in the interaction between a manipulator and a human operator. The elasticity center is a very important characteristic for controlling the force of a manipulator, because a force acting at the elasticity center results in a pure displacement of the end-effector in the same direction as the force. Similarly, a torque acting at the elasticity center results in a pure rotation of the end-effector in the same direction as the torque. A stiffness synthesis strategy is proposed for a desired elasticity center for three-degree-of-freedom (DOF) planar parallel mechanisms (PPM) consisting of three revolute-prismatic-revolute (3RPR) links. Based on stiffness analysis, the elasticity center is derived to have a diagonal stiffness matrix in an arbitrary configuration. The stiffness synthesis is defined to determine the configuration when the elasticity center and the diagonal matrix are given. The seven nonlinear system equations are solved based on one reference input. The existence and the solvability of the nonlinear system equations were analyzed using reduced Grobner bases. Anumerical example is presented to validate the method. | en_US |
dc.description.sponsorship | This study was supported by Basic Science Research Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Education (NRF-2014R1A1A4A01009290). | en_US |
dc.language.iso | en | en_US |
dc.publisher | CAMBRIDGE UNIV PRESS | en_US |
dc.subject | Elasticity center | en_US |
dc.subject | Stiffness synthesis | en_US |
dc.subject | Parallel mechanism | en_US |
dc.subject | Reduced Grobner bases | en_US |
dc.subject | Screw theory | en_US |
dc.title | Stiffness synthesis of 3-DOF planar 3RPR parallel mechanisms | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1017/S0263574715000363 | - |
dc.relation.journal | ROBOTICA | - |
dc.contributor.googleauthor | Wen, Kefei | - |
dc.contributor.googleauthor | Shin, Chan-Bae | - |
dc.contributor.googleauthor | Seo, TaeWon | - |
dc.contributor.googleauthor | Lee, Jeh Won | - |
dc.relation.code | 2016009748 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | taewonseo | - |
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