텐던 구동 로봇 메커니즘의 일반화된 그래프 표현
Generalized Graph Representation of Tendon Driven Robot Mechanism
0
조회
0
다운로드
3
인용
0
참고문헌
키워드
초록
Tendon driven robot mechanisms have many advantages such as allowing miniaturizationand light-weight designs and/or enhancing flexibility in the design of structures. When designing oranalyzing tendon driven mechanisms, it is important to determine how the tendons should be connectedand whether the designed mechanism is easily controllable. Graph representation is useful to view andanalyze such tendon driven mechanisms that are complicatedly interconnected between mechanicalelements. In this paper, we propose a method of generalized graph representation that provides us withan intuitive analysis tool not only for tendon driven manipulators, but also various other kinds ofmechanical systems which are combined with tendons. This method leads us to easily obtain structurematrix – which is the one of the most important steps in analyzing tendon driven mechanisms.
Abstract
Tendon driven robot mechanisms have many advantages such as allowing miniaturizationand light-weight designs and/or enhancing flexibility in the design of structures. When designing oranalyzing tendon driven mechanisms, it is important to determine how the tendons should be connectedand whether the designed mechanism is easily controllable. Graph representation is useful to view andanalyze such tendon driven mechanisms that are complicatedly interconnected between mechanicalelements. In this paper, we propose a method of generalized graph representation that provides us withan intuitive analysis tool not only for tendon driven manipulators, but also various other kinds ofmechanical systems which are combined with tendons. This method leads us to easily obtain structurematrix – which is the one of the most important steps in analyzing tendon driven mechanisms.
참고문헌 (14)
- J. J. Lee, "Tendon-Driven Manipulators: Analysis, Synthesis, and Control", 박사, pp.1991
- M. Gredenstein, "Antagonism for a Highly Anthropomorphic Hand-Arm System", Advanced Robotics, 22, pp.39~55 (2008)
- P. Tuffield, "The Shadow robot mimics human actions", Industrial robot: an international journal (2003)
- A.M. Tahmasebi, "Dynamic parameter identification and analysis of a PHANToM haptic device", Proc. IEEE Conf. on Control Applications, pp.1251~1256 (2005)
- 강병호, "수술용 로봇 햅틱 시스템 구성을 위한 저관성 마스터 장치 핸들부 개발", 로봇학회 논문지, 7(4), pp.267~275 (2012), 한국로봇학회[DOI]
- S. J. Ball, "Novel robotic mechanisms for upper-limb rehabilitation and assessment", 박사, pp.2008
- J.R. Steger, "Curbed cannula instrument, US Patent 12", 618, 608
- V. Potkonjak, "The Puller-Follower Control of Compliant and Noncompliant Antagonistic Tendon Drives in Robotic Systems", International Journal of Advanced Robotics Systems (2011)
- 윤현수, "인간 동작 표현용 스프링 백본 구조 소프트 암의 구현", 로봇학회 논문지, 7(2), pp.65~75 (2012), 한국로봇학회[DOI]
- M. Uyguroğlu, "Kinematic analysis of tendon-driven robotic mechanisms using oriented graphs", Acta Mechanica, 182, pp.265~277 (2006)
- 서보길, "무인 자동차의 주변 환경 인식을 위한 도시 환경에서의 그래프 기반 물체 분할 방법", 로봇학회 논문지, 9(1), pp.1~10 (2014), 한국로봇학회[DOI]
- G. Golumn, "Calculating the singular values and pseudo-inverse of a matrix", SIAM Numer. Anal., B2, pp.205~224 (1965)
- 이종화, "여유 자유도를 갖는 산업용 로봇의 역기구학 해석 및 최적 동작 계획", 로봇학회 논문지, 7(1), pp.35~44 (2012), 한국로봇학회