Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2023-05-22T05:01:02Z | - |
dc.date.available | 2023-05-22T05:01:02Z | - |
dc.date.issued | 2011-12 | - |
dc.identifier.citation | 2011 IEEE/SICE International Symposium on System Integration, SII 2011, article no. 6147438, Page. 162-167 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/6147438/ | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/181060 | - |
dc.description.abstract | In general, optimal design for the mechanism such as Gough-Stewart Platform (GSP) does not take into account practical factors of the mechanism such as its component weight and size, and mechanical interferences among them, etc. Particularly, in designing a robot module for micro-surgical operations which would be mounted at the end of a macro manipulator, its light weight, compactness, as well as good kinematic performance are important design aspects that should be considered. In this paper, design of a compact GSP module incorporating additional practical design factors such as mechanical interferences among mechanism components is discussed. A modified design for micro-surgical operations which requires a small operation region represented as a nominal operation point is suggested and it is shown that its performance exceeds one of the typical GSP design under the given practical component limitations such as actual length of active prismatic joints. © 2011 IEEE. | - |
dc.description.sponsorship | This work is the outcome of Robot Industry Source Technology Development Program supported by the Ministry of Knowledge and Economy (MKE) | - |
dc.language | en | - |
dc.publisher | IEEE | - |
dc.subject | Mechanisms | - |
dc.subject | Active prismatic joint | - |
dc.subject | Component weight | - |
dc.subject | Gough-Stewart platform | - |
dc.subject | Mechanical interference | - |
dc.subject | Light weight | - |
dc.subject | Manipulators | - |
dc.subject | Optimal design | - |
dc.subject | Machine design | - |
dc.subject | Surgery | - |
dc.subject | Design factors | - |
dc.subject | Nominal operations | - |
dc.subject | Modified designs | - |
dc.title | Design of a Gough-Stewart platform for micro-surgical operations | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/SII.2011.6147438 | - |
dc.relation.page | 162-167 | - |
dc.relation.journal | 2011 IEEE/SICE International Symposium on System Integration, SII 2011 | - |
dc.contributor.googleauthor | Kim, Sung mok | - |
dc.contributor.googleauthor | Lim, Hoon | - |
dc.contributor.googleauthor | Cheong, Joono | - |
dc.contributor.googleauthor | Yi, Byung ju | - |
dc.contributor.googleauthor | Kim, Whee kuk | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 전자공학부 | - |
dc.identifier.pid | bj | - |
dc.identifier.article | 6147438 | - |
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