Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2020-12-16T05:56:39Z | - |
dc.date.available | 2020-12-16T05:56:39Z | - |
dc.date.issued | 2003-10 | - |
dc.identifier.citation | 제어로봇시스템학회 국제학술대회 논문집, page. 1598-1602 | en_US |
dc.identifier.uri | http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE02007990? | - |
dc.identifier.uri | https://www.koreascience.or.kr/article/CFKO200333239337064.page | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/156296 | - |
dc.description.abstract | The parallel-type mechanism provides more accurate and stiff motion than the serial-type mechanism. However, in case of using the haptic device, the performance of the force reflection can be deteriorated due to the singular points existing in workspace. In this paper, we propose a redundantly actuated parallel 3-DOF haptic device, which is singularity-free in the workspace and has an improved force reflection capability. In addition, we propose a new force distribution algorithm, which can reflect force of both high and low resolution, using two sets of actuator with different size. Redundant actuators are attached to the base frame in order to minimize the inertia of the system. Moreover, a wire and gear reduction system is employed to achieve high force reflection along with soft feeling. We confirm the performance of the force reflection capability throughout simulation. | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | Institute of Control, Robotics and Systems (제어로봇시스템학회) | en_US |
dc.subject | Redundant Actuation | en_US |
dc.subject | Torque distribution | en_US |
dc.title | Force distribution algorithm for singularity-free 3-DOF parallel haptic device with redundant actuation | en_US |
dc.type | Article | en_US |
dc.contributor.googleauthor | Kim, Tae-Ju | - |
dc.contributor.googleauthor | Chung, Goo-Bong | - |
dc.contributor.googleauthor | Yi, Byung-Ju | - |
dc.contributor.googleauthor | Seo, Il-Hong | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DIVISION OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | bj | - |
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