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College of Engineering(공과대학)School of Mechanical and Aerospace Engineering(기계항공공학부)Dept. of Mechanical Engineering(기계공학과)ME-Journal Papers(저널논문)

Kinematics and Workspace Analysis of a Parallel Wire Mechanism for Measuring a Robot Pose

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dc.contributor.authorJeong, Jae Wonko
dc.contributor.authorKim, Soo Hyunko
dc.contributor.authorKwak, Yoon Keunko
dc.date.accessioned2008-01-08T06:12:57Z-
dc.date.available2008-01-08T06:12:57Z-
dc.date.created2012-02-06-
dc.date.created2012-02-06-
dc.date.issued1999-08-
dc.identifier.citationMECHANISM AND MACHINE THEORY, v.34, no.6, pp.825 - 841-
dc.identifier.issn0094-114X-
dc.identifier.urihttp://hdl.handle.net/10203/2656-
dc.description.abstractThis paper presents a parallel wire mechanism for measuring a robot pose of 6 degrees of freedom (DOF), The position and orientation of a robot end-effector are obtained from the six wire lengths measured in the parallel wire mechanism. The forward kinematics is solved by using a numerical method, and determined the unique solution based on the geometric configuration of the mechanism. The method to estimate the workspace is represented. It is verified that the proposed mechanism can measure 6-DOF of industrial robot effectively. (C) 1998 Elsevier Science Ltd. All rights reserved.-
dc.languageEnglish-
dc.language.isoen_USen
dc.publisherPergamon-Elsevier Science Ltd-
dc.subjectPOSITIONING MECHANISM-
dc.subjectCALIBRATION-
dc.subjectMANIPULATOR-
dc.titleKinematics and Workspace Analysis of a Parallel Wire Mechanism for Measuring a Robot Pose-
dc.typeArticle-
dc.identifier.wosid000079637100002-
dc.identifier.scopusid2-s2.0-0344771022-
dc.type.rimsART-
dc.citation.volume34-
dc.citation.issue6-
dc.citation.beginningpage825-
dc.citation.endingpage841-
dc.citation.publicationnameMECHANISM AND MACHINE THEORY-
dc.embargo.liftdate9999-12-31-
dc.embargo.terms9999-12-31-
dc.contributor.localauthorKwak, Yoon Keun-
dc.contributor.nonIdAuthorJeong, Jae Won-
dc.contributor.nonIdAuthorKim, Soo Hyun-
dc.type.journalArticleArticle-
dc.subject.keywordPlusPOSITIONING MECHANISM-
dc.subject.keywordPlusCALIBRATION-
dc.subject.keywordPlusMANIPULATOR-
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ME-Journal Papers(저널논문)
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