Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2023-05-22T04:24:34Z | - |
dc.date.available | 2023-05-22T04:24:34Z | - |
dc.date.issued | 2014-08 | - |
dc.identifier.citation | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, v. 228, NO. 11, Page. 2018-2035 | - |
dc.identifier.issn | 0954-4062;2041-2983 | - |
dc.identifier.uri | https://journals.sagepub.com/doi/10.1177/0954406213512246 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/181026 | - |
dc.description.abstract | Typical parallel mechanisms suffer from parallel singularity due to kinematic coupling of multichains. This paper investigates how to remove parallel singularities by using redundant actuations. First, actuation wrenches and constraint wrenches forming the full direct kinematic Jacobian matrix are derived. After briefly addressing conditions for their constraint singularities, Grassmann-Cayley algebra is employed to identify parallel singularities. Then, employing Grassmann line geometry, the locations and the minimum number of redundant actuators are identified for the parallel mechanisms to have parallel singularity-free workspace. Three different types of 3-degree-of-freedom parallel mechanisms such as planar, spherical, and spatial parallel mechanisms are given as exemplary devices. | - |
dc.description.sponsorship | Basic Science Research Program through the National Research Foundation of Korea (NRF) - Ministry of Education, Science and Technology[2011-0010708];Converging Research Center Program through the Ministry of Science, ICT and Future Planning, Korea[2013K000352];Technology Innovation Program - Ministry of Trade, Industry and Energy Republic of Korea (MOTIE, Korea) - GRRC program of Gyeonggi Province[10040097][GRRC HANYANG 2013-A02];Ministry of Trade, Industry and Energy (MOTIE);Korea Institute for Advancement in Technology (KIAT) through the Workforce Development Program in Strategic Technology - MOTIE (The Ministry of Trade, Industry and Energy), Korea[H1502-13- 1001];Robotics-Specialized Education Consortium for Graduates support program | - |
dc.language | en | - |
dc.publisher | Professional Engineering Publishing Ltd. | - |
dc.subject | Singularity analysis | - |
dc.subject | redundant actuation | - |
dc.subject | parallel mechanism | - |
dc.subject | Grassmann line geometry | - |
dc.subject | Grassmann-Cayley algebra | - |
dc.title | Parallel singularity-free design with actuation redundancy: A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation | - |
dc.type | Article | - |
dc.relation.no | 11 | - |
dc.relation.volume | 228 | - |
dc.identifier.doi | 10.1177/0954406213512246 | - |
dc.relation.page | 2018-2035 | - |
dc.relation.journal | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science | - |
dc.contributor.googleauthor | Shin, Kyoosik | - |
dc.contributor.googleauthor | Yi, Byung-Ju | - |
dc.contributor.googleauthor | Kim, Wheekuk | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 전자공학부 | - |
dc.identifier.pid | bj | - |
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