논문 (학술지)
Modeling and Applications of a Family of Five-Degree-of-Freedom Parallel Mechanisms With Kinematic and Actuation Redundancy
| 등록번호 | RPMS-2019-0190744800 | SCI 구분
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※구분 : SCI(SCIE포함), 비SCI |
SCI |
|---|---|---|---|
| 저자명 (주·공동저자) | Kang Long; Kim Wheekuk; Yi Byung-Ju | ||
| 논문구분 | 국외전문학술지 | 학술지명 | JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME |
| ISSN | 1942-4302 | 학술지 출판일자 | 2018-07-03 |
| 학술지 볼륨번호 | 10 | 논문페이지 | 051004 ~ - |
| 학술지 임팩트팩터 | 2.233 | 기여율 | 50 % |
| DOI | 10.1115/1.4040462 | ||
| 초록 | 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 Sch€onflies motion. Three applications are considered in this work. The first and second applications use kinematic redundancy to avoid parallel singularities and perform an auxiliary grasping task in sequence. The third application incorporates actuation redundancy into a kinematically redundant manipulator to increase the load-carrying capacity. Screw theory was used to derive the Jacobian of the 5DOF PM with kinematic and actuation redundancy. Parallel singularities can be completely alleviated by controlling the orientation of the redundant link, thereby obtaining a large rotational workspace, and actuation redundancy increases the load-carrying capacity. Using a commercially available multibody dynamic simulator, an example of trajectory was performed to illustrate the large rotational workspace of the first and second applications and compare the Euclidean norm of the vector of actuation torque of nonredundant and redundant PMs. Three prototypes were also developed to demonstrate the output motion and static balancing property. | ||
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