Stiffness synthesis of 3-DOF planar 3RPR parallel mechanisms
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Wen, Kefei | - |
dc.contributor.author | Shin, Chan-Bae | - |
dc.contributor.author | Seo, TaeWon | - |
dc.contributor.author | Lee, Jeh Won | - |
dc.date.accessioned | 2021-07-30T05:04:49Z | - |
dc.date.available | 2021-07-30T05:04:49Z | - |
dc.date.created | 2021-05-14 | - |
dc.date.issued | 2016-12 | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/2786 | - |
dc.description.abstract | Force control is important in robotics research for safe operation in the interaction between a manipulator and a human operator. The elasticity center is a very important characteristic for controlling the force of a manipulator, because a force acting at the elasticity center results in a pure displacement of the end-effector in the same direction as the force. Similarly, a torque acting at the elasticity center results in a pure rotation of the end-effector in the same direction as the torque. A stiffness synthesis strategy is proposed for a desired elasticity center for three-degree-of-freedom (DOF) planar parallel mechanisms (PPM) consisting of three revolute-prismatic-revolute (3RPR) links. Based on stiffness analysis, the elasticity center is derived to have a diagonal stiffness matrix in an arbitrary configuration. The stiffness synthesis is defined to determine the configuration when the elasticity center and the diagonal matrix are given. The seven nonlinear system equations are solved based on one reference input. The existence and the solvability of the nonlinear system equations were analyzed using reduced Gröbner bases. A numerical example is presented to validate the method. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | CAMBRIDGE UNIV PRESS | - |
dc.title | Stiffness synthesis of 3-DOF planar 3RPR parallel mechanisms | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Seo, TaeWon | - |
dc.identifier.doi | 10.1017/S0263574715000363 | - |
dc.identifier.scopusid | 2-s2.0-84930153332 | - |
dc.identifier.wosid | 000387670800007 | - |
dc.identifier.bibliographicCitation | ROBOTICA, v.34, no.12, pp.2776 - 2787 | - |
dc.relation.isPartOf | ROBOTICA | - |
dc.citation.title | ROBOTICA | - |
dc.citation.volume | 34 | - |
dc.citation.number | 12 | - |
dc.citation.startPage | 2776 | - |
dc.citation.endPage | 2787 | - |
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 | Degrees of freedom (mechanics) | - |
dc.subject.keywordPlus | Elasticity | - |
dc.subject.keywordPlus | End effectors | - |
dc.subject.keywordPlus | Manipulators | - |
dc.subject.keywordPlus | Mechanisms | - |
dc.subject.keywordPlus | Nonlinear equations | - |
dc.subject.keywordPlus | Nonlinear systems | - |
dc.subject.keywordPlus | Numerical methods | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Stiffness | - |
dc.subject.keywordAuthor | Elasticity center | - |
dc.subject.keywordAuthor | Stiffness synthesis | - |
dc.subject.keywordAuthor | Parallel mechanism | - |
dc.subject.keywordAuthor | Reduced Grobner bases | - |
dc.subject.keywordAuthor | Screw theory | - |
dc.identifier.url | https://www.cambridge.org/core/journals/robotica/article/stiffness-synthesis-of-3dof-planar-3rpr-parallel-mechanisms/351A7074B544613F5EAFDB1743251423 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
222, Wangsimni-ro, Seongdong-gu, Seoul, 04763, Korea+82-2-2220-1365
COPYRIGHT © 2021 HANYANG UNIVERSITY.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.