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Development of a spherical 2-DOF wrist employing spatial parallelogram structure
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Jeong, Hyunhwan | - |
| dc.contributor.author | Baek, Sunhyuk | - |
| dc.contributor.author | Kim, Wheekuk | - |
| dc.contributor.author | Yi, Byung Ju | - |
| dc.date.accessioned | 2021-07-28T08:12:54Z | - |
| dc.date.available | 2021-07-28T08:12:54Z | - |
| dc.date.created | 2021-07-14 | - |
| dc.date.issued | 2020-10 | - |
| dc.identifier.issn | 2153-0858 | - |
| dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/105816 | - |
| dc.description.abstract | 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 interpreted as being formed by combination of a U type limb and a (2-UU)+U type hybrid limb. Screw theory is employed to analyze its first-order kinematic model. Then a compact wrist prototype suitable for wrist module supporting the robot hand is designed and implemented. Finally, experiments with the prototype confirm that the wrist has a very high potential application for wrist modules in terms of dexterity and maximum load handling capacity. © 2020 IEEE. | - |
| dc.language | 영어 | - |
| dc.language.iso | en | - |
| dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
| dc.title | Development of a spherical 2-DOF wrist employing spatial parallelogram structure | - |
| dc.type | Article | - |
| dc.contributor.affiliatedAuthor | Yi, Byung Ju | - |
| dc.identifier.doi | 10.1109/IROS45743.2020.9340844 | - |
| dc.identifier.scopusid | 2-s2.0-85102406443 | - |
| dc.identifier.wosid | 000714033804017 | - |
| dc.identifier.bibliographicCitation | IEEE International Conference on Intelligent Robots and Systems, pp.6434 - 6439 | - |
| dc.relation.isPartOf | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.citation.title | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.citation.startPage | 6434 | - |
| dc.citation.endPage | 6439 | - |
| dc.type.rims | ART | - |
| dc.type.docType | Proceedings Paper | - |
| dc.description.journalClass | 1 | - |
| dc.description.isOpenAccess | N | - |
| dc.description.journalRegisteredClass | scie | - |
| dc.description.journalRegisteredClass | scopus | - |
| dc.relation.journalResearchArea | Automation & Control Systems | - |
| dc.relation.journalResearchArea | Computer Science | - |
| dc.relation.journalResearchArea | Engineering | - |
| dc.relation.journalResearchArea | Robotics | - |
| dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
| dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence | - |
| dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
| dc.relation.journalWebOfScienceCategory | Robotics | - |
| dc.subject.keywordPlus | Agricultural robots | - |
| dc.subject.keywordPlus | Degrees of freedom (mechanics) | - |
| dc.subject.keywordPlus | Kinematics | - |
| dc.subject.keywordPlus | First order | - |
| dc.subject.keywordPlus | High potential | - |
| dc.subject.keywordPlus | Kinematic model | - |
| dc.subject.keywordPlus | Maximum load | - |
| dc.subject.keywordPlus | Robot hand | - |
| dc.subject.keywordPlus | Screw theory | - |
| dc.subject.keywordPlus | Two-degree of freedom | - |
| dc.subject.keywordPlus | Intelligent robots | - |
| dc.identifier.url | https://ieeexplore.ieee.org/document/9340844 | - |
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)