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Analysis of duality‑based interconnected kinematics of planar serial and parallel manipulators using screw theory
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| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Iqbal, Hashim | - |
| dc.contributor.author | Khan, Muhammad Umair Ahmad | - |
| dc.contributor.author | Yi, Byung-Ju | - |
| dc.date.accessioned | 2023-08-16T07:39:27Z | - |
| dc.date.available | 2023-08-16T07:39:27Z | - |
| dc.date.issued | 2020-01 | - |
| dc.identifier.issn | 1861-2776 | - |
| dc.identifier.issn | 1861-2784 | - |
| dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/113981 | - |
| dc.description.abstract | In this paper, a method has been proposed to analyze the planar architectures of serial and parallel manipulators, based on the duality associated with their interconnected kinematics. The interconnected kinematics states that model of one architecture can be derived from the kinematic model of the other, using screw theory approach. The performance of the initial and the derived manipulators was evaluated with three criteria: isotropy, maximum force transmission ratio and local transmission index. Without loss of generality, the serial manipulator derived from parallel has better isotropy, while the parallel manipulator derived from serial can be designed to have better force and power transmission. | - |
| dc.format.extent | 16 | - |
| dc.language | 영어 | - |
| dc.language.iso | ENG | - |
| dc.publisher | Springer Verlag | - |
| dc.title | Analysis of duality‑based interconnected kinematics of planar serial and parallel manipulators using screw theory | - |
| dc.type | Article | - |
| dc.publisher.location | 독일 | - |
| dc.identifier.doi | 10.1007/s11370-019-00294-7 | - |
| dc.identifier.scopusid | 2-s2.0-85074509747 | - |
| dc.identifier.wosid | 000489947100001 | - |
| dc.identifier.bibliographicCitation | Intelligent Service Robotics, v.13, no.1, pp 47 - 62 | - |
| dc.citation.title | Intelligent Service Robotics | - |
| dc.citation.volume | 13 | - |
| dc.citation.number | 1 | - |
| dc.citation.startPage | 47 | - |
| dc.citation.endPage | 62 | - |
| dc.type.docType | 정기학술지(Article(Perspective Article포함)) | - |
| dc.description.isOpenAccess | N | - |
| dc.description.journalRegisteredClass | scie | - |
| dc.description.journalRegisteredClass | scopus | - |
| dc.relation.journalResearchArea | Robotics | - |
| dc.relation.journalWebOfScienceCategory | Robotics | - |
| dc.subject.keywordPlus | DESIGN | - |
| dc.subject.keywordAuthor | Duality | - |
| dc.subject.keywordAuthor | Inter-kinematics | - |
| dc.subject.keywordAuthor | Parallel manipulator | - |
| dc.subject.keywordAuthor | Serial manipulator | - |
| dc.identifier.url | https://link.springer.com/article/10.1007/s11370-019-00294-7?utm_source=getftr&utm_medium=getftr&utm_campaign=getftr_pilot | - |
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)