불가사리 채집용 4절 링크 매니퓰레이터의 최적 설계

Title
불가사리 채집용 4절 링크 매니퓰레이터의 최적 설계
Other Titles
Optimal Design of a Four-bar Linkage Manipulator for Starfish-Capture Robot Platform
Author(s)
서태원김지훈[김지훈]김종원[김종원]진상록[진상록]김종원[김종원]
Keywords
Four-bar Linkage (4절 링크); Optimal Design (최적설계); UVMS (수중 플랫폼-매니퓰레이터 시스템); Starfish Capturing (불가사리 채집); Quasi-static Analysis (준정적 해석)
Issue Date
201309
Publisher
한국정밀공학회
Citation
한국정밀공학회지, v.30, no.9, pp.961 - 968
Abstract
In this paper, we propose an optimal design for starfish capturing manipulator module with fourbar linkage mechanism. A tool link with compliance is attached on the four-bar linkage, and the tool repeats detaching starfish from the ground and putting it into the storage box. Since the tool is not rigid and the manipulator is operating underwater, the trajectory of the tool tip is determined by its dynamics as well as kinematics. We analyzed the trajectory of the manipulator tool tip by quasi-static analysis considering both kinematics and dynamics. In optimization, the lengths of each link and the tool stiffness are considered as control variables. To maximize the capturing ability, capturing stroke of the four-bar manipulator trajectory is maximized. Reaction force and reaction moment, and other kinematic constraints were considered as inequality constraints.
URI
http://hdl.handle.net/YU.REPOSITORY/28921
ISSN
1225-9071
Appears in Collections:
공과대학 > 기계공학부 > Articles
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