학회소식

Multiple solution을 지니는 정방향기구학 : 병렬로봇의 multiple forward position solution을 구하는 연구와 단일 closed form forward position solution을 지니는 병렬로봇을 설계하는 연구로 나뉨.
- Closed form forward position solution을 지니는 병렬로봇을 설계하는 연구
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.
-병렬로봇의 multiple forward position solution을 구하는 연구
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.

-고전적인 모빌리티 개념 소개 : K.H. Hunt, Kinematic Geometry of Mechanisms, Clarendon Press, Oxford, 1978.
-Overconstrained mechanism의 경우도 포함하는 일반적인 병렬 로봇에 대한 모빌리티 해석을 다룬 논문 : 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.

-병렬 로봇 Kinematic Modeling에 대한 다양한 예제를 제공하는 논문 : L.W. Tsai, Robot Analysis : The mechanics of serial and parallel manipulators, Wiley-Interscience, 1999. Section 5.6 (pp. 247~258)
-Kinematic and force redundancy를 포함한 병렬로봇에 대한 가장 완성된 모델링 방식을 제안한 논문 : : 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.

-Lie groups of displacements synthesis and constraint-synthesis : Group theory를 적용한 논문
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 : Mechanism의 constraint를 기반으로 하는 방법론을 다룬 논문
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.

-Architecture 설계 자체에서 발생하는 singularity를 최초로 소개하는 논문
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 singularity와 serial singularity를 최초로 소개하는 논문
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 constraint의 rank에 deficiency가 발생한 경우를 다루는 논문
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 Geometry를 활용하여 singularity를 1-6까지의 screw system의 개념으로 해석한 논문
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.