Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2023-05-22T04:13:18Z | - |
dc.date.available | 2023-05-22T04:13:18Z | - |
dc.date.issued | 2016-10 | - |
dc.identifier.citation | 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016, v. 2016, article no. 7734042, Page. 144-147 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/7734042 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/181013 | - |
dc.description.abstract | This paper introduces a novel kinematically redundant five-degree-of-freedom (DOF) parallel mechanism (PM) which can be fully gravity balanced. The kinematic redundancy can be used to generate large rotational workspace or perform auxiliary grasping task. The grasping task is selected as an example to be investigated in this work. Firstly, description of structure and principle of gravity balancing are introduced. Secondly, closed-form inverse and forward kinematic models are presented in detail. Thirdly, an example trajectory that includes the auxiliary grasping task is demonstrated using a commercially available multi-body dynamic simulator. Analysis results show that the proposed PM has quite a few potential applications. © 2016 IEEE. | - |
dc.description.sponsorship | This work is supported by the Technology Innovation Program (10040097) funded by the Ministry of Trade, Industry and Energy Republic of Korea (MOTlE, Korea), supported by Mid-career Researcher Program through NRF grant funded by the MEST (NRF-20 13RIA2A2AO 10688 14), supported by the Technology Innovation Program (10049789, Steering and driving mechanism for Cardio-vascular intervention procedure) funded by the Ministry of Trade, Industry & Energy (MI, Korea), and supported by the Robot industry fusion core technology development project of the Ministry of Trade, Industry & Energy of KOREA (10052980 | - |
dc.language | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.subject | Grasping | - |
dc.subject | Gravity balancing | - |
dc.subject | Kinematic redundancy | - |
dc.subject | Parallel mechanisms | - |
dc.title | Design of a kinematically redundant Schönflies-motion generator with auxiliary grasping task | - |
dc.type | Article | - |
dc.relation.volume | 2016 | - |
dc.identifier.doi | 10.1109/URAI.2016.7734042 | - |
dc.relation.page | 144-147 | - |
dc.relation.journal | 2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2016 | - |
dc.contributor.googleauthor | Kang, Long | - |
dc.contributor.googleauthor | Lee, Sungon | - |
dc.contributor.googleauthor | Kim, Wheekuk | - |
dc.contributor.googleauthor | Yi, Byung ju | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 전자공학부 | - |
dc.identifier.pid | bj | - |
dc.identifier.article | 7734042 | - |
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