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      평면형 3자유도 병렬 메커니즘의 여유 구동 특성 분석

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      https://www.riss.kr/link?id=A103323273

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      다국어 초록 (Multilingual Abstract)

      A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.
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      A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric an...

      A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

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      참고문헌 (Reference)

      1 박재현, "회전관절만을 활용하는 병진 3자유도 병렬 메커니즘의 기구학 특성 분석" 한국로봇학회 10 (10): 119-132, 2015

      2 오현석, "정위치 해석해를 가지는 평면형 3자유도 병렬 메커니즘의 기구학 특성 분석" 고려대학교 대학원 2013

      3 김상현, "로봇 메니퓰레이터의 제어를 위한 특이점 회피 알고리즘의 비교 연구" 한국로봇학회 12 (12): 42-54, 2017

      4 S. H. Woo, "Torque Balancing Algorithm for the Redundantly Actuated Parallel Mechanism" 42 : 41-51, 2017

      5 Y. Nakamura, "Taskpriority based redundancy control of robot manipulators" 6 (6): 3-15, 1987

      6 L. W. Tsai, "Robot Analysis: The Mechanics of Serial and Parallel Manipulators" Wiley-Interscience 1999

      7 J. I. Jeon, "Redundant Actuation Characteristics Analysis and Practical Redundancy Algorithm of a Planar 3-DOF Parallel Mechanism Having Closed-form Position Solution" Korea university 2014

      8 J. Hollerback, "Redundancy resolution of manipulators through torque optimization" 3 (3): 308-316, 1987

      9 K. Shin, "Parallel singularity-free design with actuation redundancy : A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation" 228 (228): 2018-2035, 2014

      10 J. P. Merlet, "Parallel Robots" Kluwer Academic Publishers 2000

      1 박재현, "회전관절만을 활용하는 병진 3자유도 병렬 메커니즘의 기구학 특성 분석" 한국로봇학회 10 (10): 119-132, 2015

      2 오현석, "정위치 해석해를 가지는 평면형 3자유도 병렬 메커니즘의 기구학 특성 분석" 고려대학교 대학원 2013

      3 김상현, "로봇 메니퓰레이터의 제어를 위한 특이점 회피 알고리즘의 비교 연구" 한국로봇학회 12 (12): 42-54, 2017

      4 S. H. Woo, "Torque Balancing Algorithm for the Redundantly Actuated Parallel Mechanism" 42 : 41-51, 2017

      5 Y. Nakamura, "Taskpriority based redundancy control of robot manipulators" 6 (6): 3-15, 1987

      6 L. W. Tsai, "Robot Analysis: The Mechanics of Serial and Parallel Manipulators" Wiley-Interscience 1999

      7 J. I. Jeon, "Redundant Actuation Characteristics Analysis and Practical Redundancy Algorithm of a Planar 3-DOF Parallel Mechanism Having Closed-form Position Solution" Korea university 2014

      8 J. Hollerback, "Redundancy resolution of manipulators through torque optimization" 3 (3): 308-316, 1987

      9 K. Shin, "Parallel singularity-free design with actuation redundancy : A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation" 228 (228): 2018-2035, 2014

      10 J. P. Merlet, "Parallel Robots" Kluwer Academic Publishers 2000

      11 J. H. Lee, "Optimal design and development of a five-bar finger with redundant actuation" 11 : 27-42, 2001

      12 B. -J. Yi, "Multi-task oriented design of an asymmetric 3T1R type 4-DOF parallel mechanism" 227 (227): 2236-2255, 2013

      13 G. Lee, "Minimizing energy consumption of parallel mechanism via redundant actuation" 20 (20): 2805-2812, 2015

      14 T. J. Kim, "Load distribution algorithms and experimentation for a redundantly actuated, singularity-free 3-DOF parallel haptic device" 2899-2904, 2004

      15 L. W. Tsai, "Kinematics of a novel three DOF translational platform" 3446-3451, 1996

      16 H.S. Oh, "Kinematic Characteristic Analysis of a Planar 3-DOF Parallel Mechanism Having Closed-form Position Solution" 390-391, 2013

      17 J.I., Jeon, "Implementation of the redundantly actuation planar parallel mechanism having closed-form forward position solution" 313-314, 2013

      18 N. L. White, "Grassmann-Cayley algebra and robotics" 11 : 91-107, 1994

      19 J. A. Saglia, "Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity" 130 (130): 124501_1-124501_5, 2008

      20 김성목, "Forward Kinematic Singularity Avoiding Design of a Schönflies Motion Generator by Asymmetric Attachment of Subchains" 제어·로봇·시스템학회 11 (11): 116-126, 2013

      21 Y. Fu, "Dynamic modeling and analysis of a 3-DOF parallel haptic device" 110-115, 2013

      22 S. M. Kim, "Development of a novel two-limbed parallel mechanism having schönflies motion" 229 (229): 136-154, 2015

      23 F. Hao, "Conditions for line-based singularities in spatial platform manipulators" 15 (15): 43-55, 1988

      24 P. Ben-Horin, "Application of Grassmann-Cayley algebra to geometrical interpretation of parallel robot singularities" 28 (28): 127-141, 2009

      25 S. Kock, "A parallel x-y manipulator with actuation redundancy for high-speed and activestiffness applications" 5 : 2295-2300, 1998

      26 V. Arakelian, "A new 3-DoF planar parallel manipulator with unlimited rotation capability" 2011

      27 J. Wua, "A comparison study on the dynamics of planar 3-DOF, 4-RRR, 3-RRR and 2-RRR parallel manipulators" 27 : 150-156, 2011

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      학술지 이력

      학술지 이력
      연월일 이력구분 이력상세 등재구분
      2027 평가예정 재인증평가 신청대상 (재인증)
      2021-01-01 평가 등재학술지 유지 (재인증) KCI등재
      2018-01-01 평가 등재학술지 유지 (등재유지) KCI등재
      2015-01-01 평가 등재학술지 선정 (계속평가) KCI등재
      2013-01-01 평가 등재후보 1차 FAIL (등재후보1차) KCI등재후보
      2012-01-01 평가 등재후보 1차 PASS (등재후보1차) KCI등재후보
      2011-01-01 평가 등재후보학술지 유지 (등재후보1차) KCI등재후보
      2009-01-01 평가 등재후보학술지 선정 (신규평가) KCI등재후보
      2008-09-30 학회명변경 한글명 : 한국로봇공학회 -> 한국로봇학회
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      학술지 인용정보

      학술지 인용정보
      기준연도 WOS-KCI 통합IF(2년) KCIF(2년) KCIF(3년)
      2016 0.59 0.59 0.45
      KCIF(4년) KCIF(5년) 중심성지수(3년) 즉시성지수
      0.38 0.31 0.716 0.11
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