Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2021-03-17T02:13:43Z | - |
dc.date.available | 2021-03-17T02:13:43Z | - |
dc.date.issued | 2020-01 | - |
dc.identifier.citation | IEEE ACCESS, v. 8, no. 1, page. 9015-9022 | en_US |
dc.identifier.issn | 2169-3536 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/8950145 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/160624 | - |
dc.description.abstract | This paper proposes a three-degree-of-freedom manifold composed of three linear actuators. The proposed mechanism consists of a workspace suitable for facade cleaning and can compensate for the horizontal position from disturbances in a gondola-based exterior-wall cleaning. We design a cleaning manipulator that can ensure a constant cleaning area by compensating for the disturbance in each direction. The position, velocity kinematic, and Jacobian-based singularity analysis are presented, and kinematic variables are defined to extend a singularity-free workspace. In addition, optimization is performed based on an index that demonstrates the mechanical properties of the manipulator. The result shows how the manipulator compensates for the disturbances as well as the features of the optimization model. This study can be applied to robot manipulators for facade cleaning in the future. | en_US |
dc.description.sponsorship | This work was supported in part by the National Research Foundation of Korea (NRF) grant funded by the Ministry of Science and ICT for First-Mover Program for Accelerating Disruptive Technology Development under Grant 2018M3C1B9088331 and Grant 2018M3C1B9088332, and in part by the Human Resources Program in Energy Technology of the Korea Institute of Energy Technology Evaluation and Planning (KETEP)-granted financial resource from the Ministry of Trade, Industry and Energy, South Korea, under Grant 20184030201970. | en_US |
dc.language.iso | en | en_US |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | en_US |
dc.subject | Kinematics | en_US |
dc.subject | optimal design | en_US |
dc.subject | parallel mechanism | en_US |
dc.subject | 3-DOF | en_US |
dc.subject | workspace | en_US |
dc.title | Design of a 3-DOF robotic manipulator to compensate disturbances in façade-cleaning | en_US |
dc.type | Article | en_US |
dc.relation.no | 1 | - |
dc.relation.volume | 8 | - |
dc.identifier.doi | 10.1109/ACCESS.2020.2964010 | - |
dc.relation.page | 9015-9022 | - |
dc.relation.journal | IEEE ACCESS | - |
dc.contributor.googleauthor | PARK, GARAM | - |
dc.contributor.googleauthor | HONG, JOOYOUNG | - |
dc.contributor.googleauthor | YOO, SUNGKEUN | - |
dc.contributor.googleauthor | KIM, HWA SOO | - |
dc.contributor.googleauthor | SEO, TAEWON | - |
dc.relation.code | 2020045465 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | taewonseo | - |
dc.identifier.orcid | https://orcid.org/0000-0001-9447-7675 | - |
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