$\require{mediawiki-texvc}$

연합인증

연합인증 가입 기관의 연구자들은 소속기관의 인증정보(ID와 암호)를 이용해 다른 대학, 연구기관, 서비스 공급자의 다양한 온라인 자원과 연구 데이터를 이용할 수 있습니다.

이는 여행자가 자국에서 발행 받은 여권으로 세계 각국을 자유롭게 여행할 수 있는 것과 같습니다.

연합인증으로 이용이 가능한 서비스는 NTIS, DataON, Edison, Kafe, Webinar 등이 있습니다.

한번의 인증절차만으로 연합인증 가입 서비스에 추가 로그인 없이 이용이 가능합니다.

다만, 연합인증을 위해서는 최초 1회만 인증 절차가 필요합니다. (회원이 아닐 경우 회원 가입이 필요합니다.)

연합인증 절차는 다음과 같습니다.

최초이용시에는
ScienceON에 로그인 → 연합인증 서비스 접속 → 로그인 (본인 확인 또는 회원가입) → 서비스 이용

그 이후에는
ScienceON 로그인 → 연합인증 서비스 접속 → 서비스 이용

연합인증을 활용하시면 KISTI가 제공하는 다양한 서비스를 편리하게 이용하실 수 있습니다.

Parallel singularity-free design with actuation redundancy: A case study of three different types of 3-degree-of-freedom parallel mechanisms with redundant actuation

Proceedings of the Institution of Mechanical Engineers. Journal of Mechanical Engineering Science Part C, v.228 no.11, 2014년, pp.2018 - 2035  

Shin, Kyoosik (Department of Robot Engineering, Hanyang University, Ansan, South Korea) ,  Yi, Byung-Ju (Department of Electronic Systems Engineering, Hanyang University, Ansan, South Korea) ,  Kim, Wheekuk (Department of Control and Instrumentation Engineering, College of Science and Technology, Korea University, Sejong, South Korea)

Abstract AI-Helper 아이콘AI-Helper

Typical parallel mechanisms suffer from parallel singularity due to kinematic coupling of multichains. This paper investigates how to remove parallel singularities by using redundant actuations. First, actuation wrenches and constraint wrenches forming the full direct kinematic Jacobian matrix are d...

주제어

참고문헌 (34)

  1. Robot analysis: the mechanics of serial and parallel manipulators Tsai L-W 1999 

  2. Parallel robots Merlet JP 2006 

  3. Gosselin, C., Angeles, J.. Singularity analysis of closed-loop kinematic chains. IEEE transactions on robotics and automation : A publication of the IEEE Robotics and Automation Society, vol.6, no.3, 281-290.

  4. IEEE Trans Robot Autom Ma O 23 7 1 1992 

  5. Zlatanov, D., Fenton, R. G., Benhabib, B.. A Unifying Framework for Classification and Interpretation of Mechanism Singularities. Journal of mechanical design, vol.117, no.4, 566-572.

  6. Mohammadi Daniali, H.R., Zsombor-Murray, P.J., Angeles, J.. Analyse des singularités des manipulateurs parallèles plans. Mechanism and machine theory, vol.30, no.5, 665-678.

  7. Zlatanov, D., Fenton, R.G., Benhabib, B.. Identification and classification of the singular configurations of mechanisms. Mechanism and machine theory, vol.33, no.6, 743-760.

  8. Park, F. C., Kim, J. W.. Singularity Analysis of Closed Kinematic Chains. Journal of mechanical design, vol.121, no.1, 32-38.

  9. Kong X and Gosselin CM. Generation of architecturally singular 6-SPS parallel manipulators with linearly related planar platforms. Electronics Journal of Computational Kinematics 2002; 1(1): 9. 

  10. Zlatanov D, Bonev IA and Gosselin CM. Constraint singularities of parallel mechanisms. In: Proceedings of IEEE international conference on robotics and automation , Washington DC, 2002, vol. 1, pp.496-502. 

  11. Conconi, M., Carricato, M.. A New Assessment of Singularities of Parallel Kinematic Chains. IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, vol.25, no.4, 757-770.

  12. Joshi, Sameer A., Tsai, Lung-Wen. Jacobian Analysis of Limited-DOF Parallel Manipulators. Journal of mechanical design, vol.124, no.2, 254-258.

  13. Bonev , Ilian A., Zlatanov , Dimiter, Gosselin, Cle´ment M.. Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory. Journal of mechanical design, vol.125, no.3, 573-581.

  14. Firmani, Flavio, Podhorodeski, Ron P.. Singularity analysis of planar parallel manipulators based on forward kinematic solutions. Mechanism and machine theory, vol.44, no.7, 1386-1399.

  15. Merlet, Jean-Pierre. Singular Configurations of Parallel Manipulators and Grassmann Geometry. The International journal of robotics research, vol.8, no.5, 45-56.

  16. 10.1002/(SICI)1097-4563(199812)15:1<43::AID-ROB4>3.0.CO;2-S 

  17. White, Neil L.. Grassmann?Cayley algebra and robotics. Journal of intelligent & robotic systems, vol.11, no.1, 91-107.

  18. Downing, D.M., Samuel, A.E., Hunt, K.H.. Identification of the Special Configurations of the Octahedral Manipulator using the Pure Condition. The International journal of robotics research, vol.21, no.2, 147-159.

  19. Ben-Horin, P., Shoham, M.. Singularity condition of six-degree-of-freedom three-legged parallel robots based on grassmann-cayley algebra. IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, vol.22, no.4, 577-590.

  20. Ben-Horin, Patricia, Shoham, Moshe. Singularity analysis of a class of parallel robots based on Grassmann–Cayley algebra. Mechanism and machine theory, vol.41, no.8, 958-970.

  21. Ben-Horin, Patricia, Shoham, Moshe. Application of Grassmann—Cayley Algebra to Geometrical Interpretation of Parallel Robot Singularities. The International journal of robotics research, vol.28, no.1, 127-141.

  22. Kanaan, D., Wenger, P., Caro, S., Chablat, D.. Singularity Analysis of Lower Mobility Parallel Manipulators Using Grassmann–Cayley Algebra. IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, vol.25, no.5, 995-1004.

  23. ASME Int Des Eng Tech Conf Amine S 1317 2010 

  24. 10.1007/978-90-481-9262-5_29 

  25. Amine, Semaan, Tale Masouleh, Mehdi, Caro, Stéphane, Wenger, Philippe, Gosselin, Clément. Singularity analysis of 3T2R parallel mechanisms using Grassmann–Cayley algebra and Grassmann geometry. Mechanism and machine theory, vol.52, 326-340.

  26. Yi, Byung-Ju, Kim, Whee Kuk. The kinematics for redundantly actuated omnidirectional mobile robots. Journal of robotic systems, vol.19, no.6, 255-267.

  27. Kumar, V., Gardner, J.F.. Kinematics of redundantly actuated closed chains. IEEE transactions on robotics and automation : A publication of the IEEE Robotics and Automation Society, vol.6, no.2, 269-274.

  28. 10.1109/70.34765 

  29. ASME J Comput Nonlinear Dynam Shin H 0101701 6 2011 

  30. Nokleby SB, Firmani F, Zibil A, et al. Force-moment capabilities of redundantly-actuated planar-parallel architectures. In: 12th IFTOMM World congress , June 2007. 

  31. Congr Numerantium White N 419 40 1983 

  32. McMillan T. Invariants of antisymmetric tensors. Ph.D. Dissertation, The University of Florida, Gainesville, FL, 1990. 

  33. Kim, Sung Mok, Yi, Byung-Ju, Kim, Wheekuk. Forward kinematic singularity avoiding design of a Schönflies motion generator by asymmetric attachment of subchains. International Journal of Control, Automation and Systems, vol.11, no.1, 116-126.

  34. Arata, J, Kondo, H, Ikedo, N, Fujimoto, H. Haptic Device Using a Newly Developed Redundant Parallel Mechanism. IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society, vol.27, no.2, 201-214.

LOADING...
섹션별 컨텐츠 바로가기

AI-Helper ※ AI-Helper는 오픈소스 모델을 사용합니다.

AI-Helper 아이콘
AI-Helper
안녕하세요, AI-Helper입니다. 좌측 "선택된 텍스트"에서 텍스트를 선택하여 요약, 번역, 용어설명을 실행하세요.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.

선택된 텍스트

맨위로