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Á¦¸ñ Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 3¿ùÈ£ [ 2020. Vol. 1 ]
ÀÛ¼ºÀÚ °ü¸®ÀÚ µî·ÏÀÏ 2020-04-08
À̸ÞÀÏ kros@kros.org
Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 3¿ùÈ£ [ 2020. Vol. 1 ]

Çѱ¹·Îº¿ÇÐȸ ´º½º·¹ÅÍ 3¿ùÈ£ [ 2020. Vol. 1 ]
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< º´·Ä·Îº¿ ¿¬±¸ µ¿Çâ > ÇѾç´ëÇб³ À̺´ÁÖ ±³¼ö
  1. º´·Ä·Îº¿ °ü·Ã ÃâÆÇ¹°
    • °¡. 2000³â Á߹ݱîÁö º´·Ä·Îº¿¿¬±¸¸¦ Áý´ë¼ºÇØ ³õÀº ´ëÇ¥Àû Àú¼­ : J.P. Merlet, Parallel robots. Netherlands: Springer, 2006.
    • ³ª. º´·Ä·Îº¿ ¸ðµ¨¸µ¿¡ À¯¿ëÇÑ Screw theory¸¦ ·Îº¿±â±¸Çп¡ ½±°Ô Àû¿ëÇÑ Àú¼­ : J. Duffy, Statics and Kinematics with Applications to Robotics, Cambridge, Cambridge University Press, 1995.
    • ´Ù. Screw theory¸¦ óÀ½ ¼Ò°³ÇÑ °íÀü µµ¼­: R.S. Ball, A Treatise on the Theory of Screws, Cambridge, Cambridge University Press, 1900.
    • ¶ó. º´·Ä·Îº¿ ¸ðµ¨¸µÀ» ´Ù·é Àú¼­ : L.W. Tsai, Robot Analysis : The mechanics of serial and parallel manipulators, Wiley-Interscience, 1999.
    • ¸¶. Tutorial Book : 2019³â Çѱ¹·Îº¿ÇÐȸ ¿©¸§Çб³ (º´·Ä·Îº¿ ¿¬±¸ : À̺´ÁÖ, ±èÈñ±¹ ±³¼ö)
         º´·Ä·Îº¿ ¿¬±¸ºÐ¾ß (³ª-¸¶ ºÎºÐ¿¡ ´ëÇÑ Á¤¸®ÀÚ·á Æ÷ÇÔ)
  2. º´·Ä·Îº¿ ¿¬±¸ºÐ¾ß
    • °¡. Forward Kinematics (Á¤¹æÇâ±â±¸ÇÐ)
      Multiple solutionÀ» Áö´Ï´Â Á¤¹æÇâ±â±¸ÇÐ : º´·Ä·Îº¿ÀÇ multiple forward position solutionÀ» ±¸ÇÏ´Â ¿¬±¸¿Í ´ÜÀÏ closed form forward position solutionÀ» Áö´Ï´Â º´·Ä·Îº¿À» ¼³°èÇÏ´Â ¿¬±¸·Î ³ª´¸.
      - Closed form forward position solutionÀ» Áö´Ï´Â º´·Ä·Îº¿À» ¼³°èÇÏ´Â ¿¬±¸
      W.K. Kim, Y.K. Byun, and H.S. Cho, ¡°Closed-Form Forward-Position Solution for a 6-DOF 3-PPSP Parallel Mechanism and Its Implementation,¡± Int. Journal of Robotics Research, v. 20, no. 1, pp. 85 – 99, 2001.
      -º´·Ä·Îº¿ÀÇ multiple forward position solutionÀ» ±¸ÇÏ´Â ¿¬±¸
      J.P. Merlet, Solving the Forward Kinematics of a Gough-Type Parallel Manipulator with Interval Analysis, Int. Journal of Robotics Research, vol. 23, pp. 221-216, 2004.
      J.P. Merlet, Direct kinematics of planar parallel manipulator. In Proc. IEEE Int. Conf. on Robotics and Automation, pp. 3744-3750, 1996.
      S.-K. Song and D.S. Kwon, A tetrahedron approach for a unique closed-form solution of the forward kinematics of six-DOF parallel mechanisms with multiconnected joints, Journal of Robotic Systems, vol. 19, no. 6, pp. 269-282, 2002.
    • ³ª. Mobility Analysis : º´·Ä·Îº¿ÀÌ »ý¼º°¡´ÉÇÑ ÀÚÀ¯µµ ¹× ¸î °³ÀÇ ¸ðÅ͸¦ ÀåÂøÇØ¾ß Çϴ°¡¸¦ ÇØ¼®ÇÏ´Â ¿¬±¸
      -°íÀüÀûÀÎ ¸ðºô¸®Æ¼ °³³ä ¼Ò°³ : K.H. Hunt, Kinematic Geometry of Mechanisms, Clarendon Press, Oxford, 1978.
      -Overconstrained mechanismÀÇ °æ¿ìµµ Æ÷ÇÔÇÏ´Â ÀϹÝÀûÀÎ º´·Ä ·Îº¿¿¡ ´ëÇÑ ¸ðºô¸®Æ¼ ÇØ¼®À» ´Ù·é ³í¹® : J.S. Dai, Z. Hunag, and H. Lipkin, Mobility of overconstrained parallel mechanisms, ASME Trans. on Mechanical Design, vol. 128, Jan. 2006.
      -Q.C. Li and Z. Huang, Mobility analysis of a novel 3-5R parallel mechanism family, ASME Trans. on Mechanical Design, vol. 126, pp. 79-82, 2004.
    • ´Ù. Kinematic and Dynamic Modeling : Jacobian, Inverse dynamics µî¿¡ ´ëÇÑ ¿¬±¸¸¦ ´Ù·é ³í¹®
      -º´·Ä ·Îº¿ Kinematic Modeling¿¡ ´ëÇÑ ´Ù¾çÇÑ ¿¹Á¦¸¦ Á¦°øÇÏ´Â ³í¹® : L.W. Tsai, Robot Analysis : The mechanics of serial and parallel manipulators, Wiley-Interscience, 1999. Section 5.6 (pp. 247~258)
      -Kinematic and force redundancy¸¦ Æ÷ÇÔÇÑ º´·Ä·Îº¿¿¡ ´ëÇÑ °¡Àå ¿Ï¼ºµÈ ¸ðµ¨¸µ ¹æ½ÄÀ» Á¦¾ÈÇÑ ³í¹® : : L. Kang, W.K Kim, and B.-J. Yi, Modeling and analysis of parallel mechanisms with both kinematic and redundancies Via Screw Theory, ASME Trans. on Mechanisms and Robotics, vol. 9, no. 6, 2017.
    • ¶ó. Mechanism Synthesis : 3, 4, 5, 6 ÀÚÀ¯µµ µî ´Ù¾çÇÑ ÀÚÀ¯µµ¸¦ Áö´Ï´Â º´·Ä·Îº¿ ÇÕ¼º ¿¬±¸
      -Lie groups of displacements synthesis and constraint-synthesis : Group theory¸¦ Àû¿ëÇÑ ³í¹®
      Q. Li, Z. Huang, and J.M. Herve, Type synthesis of 3R2T 5-DOF parallel mechanisms using the Lie Group of displacements, IEEE Trans. on Robotics and Automation, vol. 20, no. 2, pp. 173-180, 2004.
      -Constraint-synthesis method : MechanismÀÇ constraint¸¦ ±â¹ÝÀ¸·Î ÇÏ´Â ¹æ¹ý·ÐÀ» ´Ù·é ³í¹®
      Y. Fang and L.W. Tsai, Structure synthesis of a class of 4-DOF and 5-DOF parallel manipulators with identical limb structures, The Int. Journal of Robotics Research, vol. 21, no. 9, pp. 799-810, 2002.
      Z. Huang and Q.C. Li, Type synthesis of symmetrical lower-mobility parallel mechanisms using the Constraint-synthesis Method, The Int. Journal of Robotics Research, vol. 22, no. 1, pp. 59-79, 2003.
      X.W. Kong, and C.M. Gosselin, Type synthesis of parallel mechanisms. 33. Springer-Verlag, Berlin, Germany 2007.
      B.-J. Yi and W.K. Kim, Task-Oriented Type Synthesis of the Lower-mobility Parallel Mechanisms With a Common Platform,” Journal of Mechanical Science and Technology, vol. 32, no. 11, pp. 5373-5387, 2018.
    • ¸¶. Singularity analysis : Architectural singularity, parallel singularity, serial singularity, constraint singularity·Î ±¸ºÐµÇ´Â ƯÀÌÁ¡ ÇØ¼®À» ´Ù·ç´Â ¿¬±¸ºÐ¾ß
      -Architecture ¼³°è ÀÚü¿¡¼­ ¹ß»ýÇÏ´Â singularity¸¦ ÃÖÃÊ·Î ¼Ò°³ÇÏ´Â ³í¹®
      O. Ma and J. Angeles, Architecture singularities of parallel manipulators, IEEE Trans. on Robotics and Automation, vol. 7, no. 1, pp. 23-29, 1992.
      -Parallel singularity¿Í serial singularity¸¦ ÃÖÃÊ·Î ¼Ò°³ÇÏ´Â ³í¹®
      C. Gossselin and J. Angeles, Singularity analysis of closed-loop kinematics chains, IEEE Trans. on Robotics and Automation, vol. 6, no. 3, pp. 281-290, 1991.
      -Mechanism constraintÀÇ rank¿¡ deficiency°¡ ¹ß»ýÇÑ °æ¿ì¸¦ ´Ù·ç´Â ³í¹®
      D. Zlatanov, I.A. Bonev, and C.M. Gosselin, Constraint Singularities of Parallel Mechanisms, In Proc. IEEE Int¡¯l Conf. on Robotics and Automations, pp. 496-502, 2002.
      -Grassmann Line Geometry¸¦ Ȱ¿ëÇÏ¿© singularity¸¦ 1-6±îÁöÀÇ screw systemÀÇ °³³äÀ¸·Î ÇØ¼®ÇÑ ³í¹®
      F. Hao and J.M. McCarthy, Conditions for line-based singularities in spatial platform manipulators, Journal of Robotics Systems, vol. 15, no. 1, pp. 43-55. 1998.
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    - Paper Acceptance Notification: 2020³â 4¿ù 4ÀÏ(Åä)
    - Final Paper Submission: 2020³â 5¿ù 1ÀÏ(±Ý)
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  • - IROS 2020 Workshop Á¦¾È¼­ Á¦Ãâ
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    3) Supporting Letter: IEEE TC (Marine Robotics)
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    3) Supporting Letter: IEEE TC (RHGM, HRI)
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