Geometrical kinematic and static analyses of planar manipulators using a barycentric formula
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Chan | - |
dc.contributor.author | Lee, Jie Hyeung | - |
dc.contributor.author | Seo, TaeWon | - |
dc.contributor.author | Lee, Jeh Won | - |
dc.date.accessioned | 2021-07-30T05:08:47Z | - |
dc.date.available | 2021-07-30T05:08:47Z | - |
dc.date.created | 2021-05-14 | - |
dc.date.issued | 2016-03 | - |
dc.identifier.issn | 0094-114X | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/3240 | - |
dc.description.abstract | This study provides a geometric interpretation of the kinematics and statics of a planar manipulator using a barycentric formula. The kinematics with instantaneous motion and statics of a manipulator have recently been proven algebraically. In the past, such studies did not provide any intuition about the equations. Robot designers needed numerical methods or trial-and-error solvers using meaningless equations. In contrast, all algebraic processes have their own geometrical meaning. Geometric analysis provides intuition for designing the linkages of a robot. Screw theory and barycentric formulas were used to find meaningful geometric measures. The kinematics and statics of a manipulator are described by an axis screw and its reciprocal, the line screw. The barycenter of a triangle with edges and the perpendicular distance between the two screws are useful geometric measures for geometric analysis. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | - |
dc.title | Geometrical kinematic and static analyses of planar manipulators using a barycentric formula | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Seo, TaeWon | - |
dc.identifier.doi | 10.1016/j.mechmachtheory.2015.10.005 | - |
dc.identifier.scopusid | 2-s2.0-84947908320 | - |
dc.identifier.wosid | 000366462000005 | - |
dc.identifier.bibliographicCitation | MECHANISM AND MACHINE THEORY, v.97, pp.72 - 84 | - |
dc.relation.isPartOf | MECHANISM AND MACHINE THEORY | - |
dc.citation.title | MECHANISM AND MACHINE THEORY | - |
dc.citation.volume | 97 | - |
dc.citation.startPage | 72 | - |
dc.citation.endPage | 84 | - |
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 | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | SINGULARITY ANALYSIS | - |
dc.subject.keywordPlus | PARALLEL | - |
dc.subject.keywordPlus | SERIAL | - |
dc.subject.keywordAuthor | Axis screw | - |
dc.subject.keywordAuthor | Line screw | - |
dc.subject.keywordAuthor | Barycenter | - |
dc.subject.keywordAuthor | Link parameter design | - |
dc.subject.keywordAuthor | Motion analysis | - |
dc.subject.keywordAuthor | Static force analysis | - |
dc.identifier.url | https://www.sciencedirect.com/science/article/pii/S0094114X15002396?via%3Dihub | - |
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.