Optimal torque distribution method for a redundantly actuated 3-RRR parallel robot using a geometrical approach
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Shim, Ho-Seok | - |
dc.contributor.author | Seo, TaeWon | - |
dc.contributor.author | Lee, Jeh Won) | - |
dc.date.accessioned | 2021-08-02T18:55:26Z | - |
dc.date.available | 2021-08-02T18:55:26Z | - |
dc.date.created | 2021-05-13 | - |
dc.date.issued | 2013-07 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/26679 | - |
dc.description.abstract | In this paper, a novel optimal torque distribution method for a redundantly actuated parallel robot is proposed. Geometric analysis based on screw theory is performed to calculate the stiffness matrix of a redundantly actuated 3-RRR parallel robot. The analysis is performed based on statics focusing on low-speed motions. The stiffness matrix consisting of passive and active stiffness is also derived by the differentiation of Jacobian matrix. Comparing two matrices, we found that null-space vector is related to link geometry. The optimal distribution torque is determined by adapting mean value of minimum and maximum angles as direction angles of null-space vector. The resulting algorithm is validated by comparing the new method with the minimum-norm method and the weighted pseudo-inverse method for two different paths and force conditions. The proposed torque distribution algorithm shows the characteristics of minimizing the maximum torque. © 2012 Cambridge University Press. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | CAMBRIDGE UNIV PRESS | - |
dc.title | Optimal torque distribution method for a redundantly actuated 3-RRR parallel robot using a geometrical approach | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Seo, TaeWon | - |
dc.identifier.doi | 10.1017/S0263574712000562 | - |
dc.identifier.scopusid | 2-s2.0-84879077913 | - |
dc.identifier.wosid | 000319838500005 | - |
dc.identifier.bibliographicCitation | ROBOTICA, v.31, no.4, pp.549 - 554 | - |
dc.relation.isPartOf | ROBOTICA | - |
dc.citation.title | ROBOTICA | - |
dc.citation.volume | 31 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 549 | - |
dc.citation.endPage | 554 | - |
dc.type.rims | ART | - |
dc.type.docType | 정기학술지(Article(Perspective Article포함)) | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | MECHANISM | - |
dc.subject.keywordPlus | MANIPULATORS | - |
dc.subject.keywordPlus | DESIGN | - |
dc.subject.keywordAuthor | Torque distribution | - |
dc.subject.keywordAuthor | Redundantly actuation | - |
dc.subject.keywordAuthor | Parallel mechanism | - |
dc.subject.keywordAuthor | Geometrical approach | - |
dc.subject.keywordAuthor | Stiffness matrix, Screw theory | - |
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