Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2019-11-22T02:12:00Z | - |
dc.date.available | 2019-11-22T02:12:00Z | - |
dc.date.issued | 2017-03 | - |
dc.identifier.citation | ROBOTICA, v. 35, no. 3, page. 511-520 | en_US |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.issn | 1469-8668 | - |
dc.identifier.uri | https://www.cambridge.org/core/journals/robotica/article/geometric-approach-for-singularity-analysis-of-3dof-planar-parallel-manipulators-using-grassmanncayley-algebra/1CB06C5D13179288AE744E5A801A49B8 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/113479 | - |
dc.description.abstract | Singular configurations of parallel manipulators (PMs) are special poses in which the manipulators cannot maintain their inherent infinite rigidity. These configurations are very important because they prevent the manipulator from being controlled properly, or the manipulator could be damaged. A geometric approach is introduced to identify singular conditions of planar parallel manipulators (PPMs) in this paper. The approach is based on screw theory, Grassmann- Cayley Algebra (GCA), and the static Jacobian matrix. The static Jacobian can be obtained more easily than the kinematic ones in PPMs. The Jacobian is expressed and analyzed by the join and meet operations of GCA. The singular configurations can be divided into three classes. This approach is applied to ten types of common PPMs consisting of three identical legs with one actuated joint and two passive joints. | en_US |
dc.description.sponsorship | This study was supported by the 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_US | en_US |
dc.publisher | CAMBRIDGE UNIV PRESS | en_US |
dc.subject | Singularity | en_US |
dc.subject | Planar parallel manipulators | en_US |
dc.subject | Grassmann-Cayley Algebra | en_US |
dc.subject | Screw theory | en_US |
dc.subject | Plucker coordinates | en_US |
dc.title | A geometric approach for singularity analysis of 3-DOF planar parallel manipulators using Grassmann-Cayley algebra | en_US |
dc.type | Article | en_US |
dc.relation.no | 3 | - |
dc.relation.volume | 35 | - |
dc.identifier.doi | 10.1017/S0263574715000661 | - |
dc.relation.page | 511-520 | - |
dc.relation.journal | ROBOTICA | - |
dc.contributor.googleauthor | Wen, Kefei | - |
dc.contributor.googleauthor | Seo, TaeWon | - |
dc.contributor.googleauthor | Lee, Jeh Won | - |
dc.relation.code | 2017010232 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | taewonseo | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.