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dc.contributor.author서태원-
dc.date.accessioned2019-11-26T06:38:49Z-
dc.date.available2019-11-26T06:38:49Z-
dc.date.issued2017-06-
dc.identifier.citationIEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 22, no. 3, page. 1308-1314en_US
dc.identifier.issn1083-4435-
dc.identifier.issn1941-014X-
dc.identifier.urihttps://ieeexplore.ieee.org/document/7875422-
dc.identifier.urihttps://repository.hanyang.ac.kr/handle/20.500.11754/114689-
dc.description.abstractEnergy consumption is a problem for robotic manipulators, which are popular in manufacturing, assembly, and process handling. Some of the most significant energy consumption comes from the weight of the large moving mass of the manipulator. This paper proposes a newmulti-degree-of-freedom (DOF) manipulator with a wire-driven gravity compensation mechanism. The most significant problem of a wire system is the durability of the wire, which is improved in this study by using a multiwinding mechanism. The tension of the wire is reduced in proportion to the number of windings. Timing belts are used to design a multi-DOF manipulator and the lightweight gravity compensation mechanism reduces inertia forces during operation. Static analysis and design issues are presented. A robotic prototype is assembled and the torque-reduction performance is verified experimentally. The proposed mechanism can be applied to industrial manipulators for efficient robotic operation.en_US
dc.description.sponsorshipThis work was supported by the National Research Foundation of Korea (NRF) funded by the Ministry of Education of the Korean government under Grant NRF-2014R1A1A4A01009290. Recommended by Technical Editor X. Jing.en_US
dc.language.isoen_USen_US
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INCen_US
dc.subjectGravity compensationen_US
dc.subjectmulti-degree-of-freedom (DOF)en_US
dc.subjectrobot manipulatoren_US
dc.subjecttensionen_US
dc.subjectwire-driven mechanismen_US
dc.titleLightweight Multi-DOF Manipulator With Wire-Driven Gravity Compensation Mechanismen_US
dc.typeArticleen_US
dc.relation.no3-
dc.relation.volume22-
dc.identifier.doi10.1109/TMECH.2017.2681102-
dc.relation.page1308-1314-
dc.relation.journalIEEE-ASME TRANSACTIONS ON MECHATRONICS-
dc.contributor.googleauthorLee, DongGyu-
dc.contributor.googleauthorSeo, TaeWon-
dc.relation.code2017002123-
dc.sector.campusS-
dc.sector.daehakCOLLEGE OF ENGINEERING[S]-
dc.sector.departmentDIVISION OF MECHANICAL ENGINEERING-
dc.identifier.pidtaewonseo-
dc.identifier.orcidhttp://orcid.org/0000-0001-9447-7675-
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COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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