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dc.contributor.author서태원ko
dc.contributor.author김지훈[김지훈]ko
dc.contributor.author김종원[김종원]ko
dc.contributor.author진상록[진상록]ko
dc.contributor.author김종원[김종원]ko
dc.date.accessioned2015-12-17T03:04:56Z-
dc.date.available2015-12-17T03:04:56Z-
dc.date.created2015-11-29-
dc.date.issued201309-
dc.identifier.citation한국정밀공학회지, v.30, no.9, pp.961 - 968-
dc.identifier.issn1225-9071-
dc.identifier.urihttp://hdl.handle.net/YU.REPOSITORY/28921-
dc.description.abstractIn 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.-
dc.language한국어-
dc.publisher한국정밀공학회-
dc.subjectFour-bar Linkage (4절 링크)-
dc.subjectOptimal Design (최적설계)-
dc.subjectUVMS (수중 플랫폼-매니퓰레이터 시스템)-
dc.subjectStarfish Capturing (불가사리 채집)-
dc.subjectQuasi-static Analysis (준정적 해석)-
dc.title불가사리 채집용 4절 링크 매니퓰레이터의 최적 설계-
dc.title.alternativeOptimal Design of a Four-bar Linkage Manipulator for Starfish-Capture Robot Platform-
dc.typeArticle-
dc.identifier.kciidART001794204-
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공과대학 > 기계공학부 > Articles
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