Zobrazeno 1 - 10
of 65
pro vyhledávání: '"Wheekuk Kim"'
Publikováno v:
Journal of Mechanical Science and Technology. 34:4721-4734
In this work, structural synthesis of lower-mobility cable-driven parallel mechanisms (CDPMs) is conducted to clearly identify all feasible structures of the lower-mobility CDPMs with n-degrees-of-freedom, which are driven by n +1 cables fixed on the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9d8755c72c24d4a178ba0f6fd583f47b
https://doi.org/10.1007/s12206-020-1029-z
https://doi.org/10.1007/s12206-020-1029-z
Publikováno v:
IROS
A spherical two-degree-of- freedom wrist adapting the structure of the spatial parallelogram is proposed. A U type extended link out of three UU type limbs of the spatial parallelogram is selected as an output link. As a result, the wrist can be inte
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::711c25ee2232fb2f6176bff4ffacf395
https://doi.org/10.1109/iros45743.2020.9340844
https://doi.org/10.1109/iros45743.2020.9340844
Publikováno v:
Mechatronics. 50:87-103
In this work, a revolute joint-based asymmetric Schonflies motion (SM) haptic device with 4-Degree-of-Freedom (DOF) force feedback capability is developed. The SM haptic device is composed of a redundantly actuated parallel sub-module which has trans
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::94e6b07dacb98f2672eac723c261f4ca
https://doi.org/10.1016/j.mechatronics.2017.12.004
https://doi.org/10.1016/j.mechatronics.2017.12.004
Publikováno v:
Mechatronics. 42:41-51
In this work, a joint torque distribution algorithm of parallel mechanism (PM) with one redundant actuator is suggested. The algorithm is effective in avoiding the joint torque saturations. In the algorithm, the force equations are modified into the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a2bca85608b0d30825db8eb25984b639
https://doi.org/10.1016/j.mechatronics.2017.01.002
https://doi.org/10.1016/j.mechatronics.2017.01.002
Publikováno v:
International Journal of Precision Engineering and Manufacturing. 18:333-343
In this study, a new 5-degree of freedom parallel-type robot for neurosurgery is developed and investigated for potential application in deep brain surgery (DBS). The neurosurgical robot consists of the base plate, the moving plate, and three limbs (
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::7b539e4acb5e9d9954a46ae1eb4cdbdd
https://doi.org/10.1007/s12541-017-0041-4
https://doi.org/10.1007/s12541-017-0041-4
Publikováno v:
UR
Numerous robotic indices have been proposed to evaluate the robot performance and for optimal design of robots. However, due to different units in the output and input of the robotic system, most of these indices are not invariant with respect to cha
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::50cc65e92992261cd93cd992ffa918a6
https://doi.org/10.1109/urai.2019.8768796
https://doi.org/10.1109/urai.2019.8768796
Publikováno v:
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science. 230:3111-3134
In 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 u
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::eb8ae6c022acfb8077ce33f91215f260
https://doi.org/10.1177/0954406215605862
https://doi.org/10.1177/0954406215605862
Publikováno v:
IEEE/ASME Transactions on Mechatronics. 20:2983-2995
In this paper, kinematic modeling and singularity analysis are performed for an omnidirectional mobile robot. At the beginning, generalized formulas of the mobility and the first-order kinematics for a planar multiarticulated omnidirectional mobile r
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::5628b7c26a06606c1cea9ba83d940370
https://doi.org/10.1109/tmech.2015.2416153
https://doi.org/10.1109/tmech.2015.2416153
Publikováno v:
Journal of Mechanisms and Robotics. 10
This paper introduces a family of statically balanced five-degree-of-freedom (5DOF) parallel mechanisms (PMs) with kinematic and actuation redundancy. Moving platforms of this family of PMs can provide 4DOF Schönflies motion. Three applications are
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::62772c65e8133216d66e7dd71286acd3
https://doi.org/10.1115/1.4040462
https://doi.org/10.1115/1.4040462
Publikováno v:
Journal of Korea Robotics Society. 10:119-124
Two novel parallel mechanisms (PMs) employing two or three PaPaRR subchains are suggested. Each of those two PMs has translational 3-DOF motion and employs only revolute joints such that they could be adequate for haptic devices requiring minimal fri
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::57ecb4ae8018174a44c3f3a7292ad2f2
https://doi.org/10.7746/jkros.2015.10.2.119
https://doi.org/10.7746/jkros.2015.10.2.119