Repository at Hanyang UniversityCOLLEGE OF ENGINEERING SCIENCES[E](공학대학)ELECTRICAL ENGINEERING(전자공학부)Articles
293 0

Full metadata record

DC FieldValueLanguage
dc.contributor.author이병주-
dc.date.accessioned2018-04-26T02:06:22Z-
dc.date.available2018-04-26T02:06:22Z-
dc.date.issued2016-10-
dc.identifier.citationPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v. 230, No. 17, Page. 3111-3134en_US
dc.identifier.issn0954-4062-
dc.identifier.issn2041-2983-
dc.identifier.urihttp://journals.sagepub.com/doi/abs/10.1177/0954406215605862-
dc.identifier.urihttps://repository.hanyang.ac.kr/handle/20.500.11754/70678-
dc.description.abstractIn this paper, a new gravity-balanced 3T1R parallel mechanism is addressed. Firstly, structure description, inverse and forward kinematic modeling are performed in detail. Secondly, Jacobian derivation based on screw theory and singularity analysis using Grassmann Line Geometry is performed, and then optimal kinematic design with respect to workspace size, kinematic isotropy and maximum force transmission ratio are conducted. Thirdly, the gravity balancing design using both counterweights and springs is proposed and a prototype of this mechanism is also presented. Results of analysis show that the proposed mechanism has quite a few potential applications.en_US
dc.description.sponsorshipThe author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the Technology Innovation Program (10040097) funded by the Ministry of Trade, Industry and Energy Republic of Korea (MOTIE, Korea), supported by Mid-career Researcher Program through NRF grant funded by the MEST (NRF-2013R1A2A2A01068814), and supported by the Technology Innovation Program (10049789, Steering and driving mechanism for Cardio-vascular intervention procedure) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea). This work performed by ICT based Medical Robotic Systems Team of Hanyang University, Department of Electronic Systems Engineering was supported by the BK21 Plus Program funded by National Research Foundation of Korea (NRF).en_US
dc.language.isoen_USen_US
dc.publisherSAGE PUBLICATIONS LTDen_US
dc.subjectParallel mechanismen_US
dc.subjectmobilityen_US
dc.subjectkinematics modelingen_US
dc.subjectscrew theoryen_US
dc.subjectsingularity analysisen_US
dc.subjectGrassmann line geometryen_US
dc.subjectoptimal designen_US
dc.subjectgravity balancingen_US
dc.subjectGRASSMANN-CAYLEY ALGEBRAen_US
dc.subjectSINGULARITY ANALYSISen_US
dc.subjectSCARA MOTIONSen_US
dc.subjectSCREW THEORYen_US
dc.subjectMANIPULATORSen_US
dc.subjectROBOTen_US
dc.subject4-DOFen_US
dc.subjectKINEMATICSen_US
dc.subjectGEOMETRYen_US
dc.titleDesign of a new gravity balanced parallel mechanism with Schonflies motionen_US
dc.typeArticleen_US
dc.relation.no17-
dc.relation.volume230-
dc.identifier.doi10.1177/0954406215605862-
dc.relation.page3111-3134-
dc.relation.journalPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE-
dc.contributor.googleauthorKang, Long-
dc.contributor.googleauthorOh, Se-Min-
dc.contributor.googleauthorKim, Wheekuk-
dc.contributor.googleauthorYi, Byung-Ju-
dc.relation.code2016001224-
dc.sector.campusE-
dc.sector.daehakCOLLEGE OF ENGINEERING SCIENCES[E]-
dc.sector.departmentDIVISION OF ELECTRICAL ENGINEERING-
dc.identifier.pidbj-
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML
Show simple item record


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE