Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 서태원 | - |
dc.date.accessioned | 2018-02-28T00:20:43Z | - |
dc.date.available | 2018-02-28T00:20:43Z | - |
dc.date.issued | 2016-03 | - |
dc.identifier.citation | MECHANISM AND MACHINE THEORY, v. 94, Page. 72-84 | en_US |
dc.identifier.issn | 0094-114X | - |
dc.identifier.uri | https://www.sciencedirect.com/science/article/pii/S0094114X15002396?via%3Dihub | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11754/40927 | - |
dc.description.abstract | This study provides a geometric interpretation of the kinematics and statics of a planar manipulator using a barycentric formula. The kinematics with instantaneous motion and statics of a manipulator have recently been proven algebraically. In the past, such studies did not provide any intuition about the equations. Robot designers needed numerical methods or trial-anderror solvers using meaningless equations. In contrast, all algebraic processes have their own geometrical meaning. Geometric analysis provides intuition for designing the linkages of a robot. Screw theory and barycentric formulas were used to find meaningful geometric measures. The kinematics and statics of a manipulator are described by an axis screw and its reciprocal, the line screw. The barycenter of a triangle with edges and the perpendicular distance between the two screws are useful geometric measures for geometric analysis. (C) 2015 Elsevier Ltd. All rights reserved. | en_US |
dc.description.sponsorship | This study was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2014R1A1A4A01009290). | en_US |
dc.language.iso | en | en_US |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | en_US |
dc.subject | Axis screw | en_US |
dc.subject | Line screw | en_US |
dc.subject | Barycenter | en_US |
dc.subject | Link parameter design | en_US |
dc.subject | Motion analysis | en_US |
dc.subject | Static force analysis | en_US |
dc.title | Geometrical kinematic and static analyses of planar manipulators using a barycentric formula | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1016/j.mechmachtheory.2015.10.005 | - |
dc.relation.journal | MECHANISM AND MACHINE THEORY | - |
dc.contributor.googleauthor | Lee, Chan | - |
dc.contributor.googleauthor | Lee, Jie Hyeung | - |
dc.contributor.googleauthor | Seo, TaeWon | - |
dc.contributor.googleauthor | Lee, Jeh Won | - |
dc.relation.code | 2016003085 | - |
dc.sector.campus | S | - |
dc.sector.daehak | COLLEGE OF ENGINEERING[S] | - |
dc.sector.department | DIVISION OF MECHANICAL ENGINEERING | - |
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