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Development of a novel two-limbed parallel mechanism having Schonflies motion

Title
Development of a novel two-limbed parallel mechanism having Schonflies motion
Author
신규식
Keywords
Schonflies motion generator; singularity analysis; parallel mechanism design; Grassmann line geometry; haptic device; OPTIMAL-DESIGN; ROBOT; MANIPULATORS; MOBILITY
Issue Date
2015-01
Publisher
SAGE PUBLICATIONS LTD
Citation
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v. 229, No. 1, Page. 136-154
Abstract
"This paper introduces a novel parallel mechanism having Schonflies motion. The mechanism consists of only two RRPaR-type limbs. After a short description of its structure, its position analysis is conducted and its screw-based kinematic model is derived. Next, its singularity analysis is performed via Grassmann line geometry and then its optimal kinematic characteristics are examined with respect to workspace size and isotropy property. The results show that the proposed parallel mechanism has a very high potential to be used as a manipulator or a haptic device. A prototype of this mechanism was developed and tested to corroborate its performance."
URI
http://journals.sagepub.com/doi/abs/10.1177/0954406214532633http://hdl.handle.net/20.500.11754/35812
ISSN
0954-4062; 2041-2983
DOI
10.1177/0954406214532633
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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