적층형 4-BAR 메커니즘을 이용한 평면형 메니퓰레이터Planar Manipulator using Stackable 4-BAR Mechanisms
- Other Titles
- Planar Manipulator using Stackable 4-BAR Mechanisms
- Authors
- 이호열; 최영진
- Issue Date
- May-2010
- Publisher
- 제어·로봇·시스템학회
- Keywords
- 4-BAR; stackable mechanism; planar manipulator
- Citation
- Journal of Institute of Control, Robotics and Systems, v.16, no.5, pp.456 - 462
- Indexed
- SCOPUS
KCI
- Journal Title
- Journal of Institute of Control, Robotics and Systems
- Volume
- 16
- Number
- 5
- Start Page
- 456
- End Page
- 462
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/40283
- DOI
- 10.5302/J.ICROS.2010.16.5.456
- ISSN
- 1976-5622
- Abstract
- This paper proposes a new planar robotic manipulator using stackable 4-BAR mechanisms for various applications. The proposed manipulator has an advantage that we can separate the driving actuators from a robotic manipulator. By separating actuators from the manipulator, we are able to separate the electrical component such as electrical wiring from the mechanical linkage/joint components in the robotic manipulator. Also, we suggest the kinematic analysis of the proposed manipulator which is composed of input mechanisms, multiple 4-BAR mechanisms and output mechanisms. Finally, we suggest numerical simulations to show the effectiveness of the proposed manipulator.
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Collections - COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
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