Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2023-05-22T05:30:17Z | - |
dc.date.available | 2023-05-22T05:30:17Z | - |
dc.date.issued | 2010-05 | - |
dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, article no. 5509362, Page. 662-668 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/5509362 | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/181086 | - |
dc.description.abstract | Recently, quite a few practical parallel mechanisms having spatial 3-DOF and 6-DOF have been introduced and implemented. However, not many useful practical applications using low-mobility parallel mechanisms having 4-DOF and 5-DOF have been developed. In this paper, we propose a 4-DOF parallel mechanism for needle insertion application in which proper orientation and needle insertion process are required. The mechanism has four outer chains and one passive middle chain through which a needle insertion motion occurs. The kinematic modeling and kinematic analysis are performed to understand the characteristics of this mechanism. Through the singularity analysis, a singularity-free design for the desired workspace is proposed. Finally, the effectiveness of this device as a needle insertion device is shown through experimental work. ©2010 IEEE. | - |
dc.description.sponsorship | This work was partially supported by the Korea Science and Engineering Foundation (KOSEF) grant funded by the Korea government (R01-2008-000-11742-0), partially supported by the GRRC program of Gyeonggi province (2008-041-0003 -0001), partially supported by the Ministry of Knowledge Economy (MKE) and Korea Industrial Technology Foundation (KOTEF) through the Human Resource Training Project for Strategic Technology, and the outcome of a Manpower Development Program for Energy & Resources supported by the Ministry of Knowledge and Economy (MKE). | - |
dc.language | en | - |
dc.publisher | IEEE | - |
dc.subject | Parallel mechanisms | - |
dc.subject | Mechanisms | - |
dc.subject | Kinematic modeling | - |
dc.subject | Robotics | - |
dc.subject | Kinematic Analysis | - |
dc.subject | Singularity analysis | - |
dc.subject | Kinematics | - |
dc.subject | Experimental works | - |
dc.subject | Needles | - |
dc.subject | Singularity-free | - |
dc.subject | Low-mobility | - |
dc.subject | Needle insertion | - |
dc.title | Implementation of a 4-DOF parallel mechanism as a needle insertion device | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/ROBOT.2010.5509362 | - |
dc.relation.page | 662-668 | - |
dc.relation.journal | Proceedings - IEEE International Conference on Robotics and Automation | - |
dc.contributor.googleauthor | Chung, Jaeheon | - |
dc.contributor.googleauthor | Cha, Hyo jeong | - |
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 | 5509362 | - |
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