서지주요정보
Fivebar 병렬 구조를 이용한 6자유도 힘 반사형 원격 조종기 = A 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism
서명 / 저자 Fivebar 병렬 구조를 이용한 6자유도 힘 반사형 원격 조종기 = A 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism / 진병대.
저자명 진병대 ; Jin, Byoung-Dae
발행사항 [대전 : 한국과학기술원, 1997].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8007113

소장위치/청구기호

학술문화관(문화관) 보존서고

MADE 97011

SMS전송

도서상태

이용가능

대출가능

반납예정일

초록정보

A Force-reflecting hand controller(FRHC) can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. This thesis presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The goal of this thesis is to construct a superior hand controller that can provide large workspace and good force-reflecting ability. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. The workspace of the fivebar parallel mechanism has been analyzed numerically using inverse kinematics. To analyze the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanism. Workspace and manipulability are used as a design guide to determine the structure dimensions such as the leg length and the sizes of upper and lower platforms. The force-reflecting hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

서지기타정보

서지기타정보
청구기호 {MADE 97011
형태사항 v, 54 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Byoung-Dae Jin
지도교수의 한글표기 : 권동수
지도교수의 영문표기 : Dong-Soo Kwon
학위논문 학위논문(석사) - 한국과학기술원 : 자동화및설계공학과,
서지주기 참고문헌 : p. 52-54
주제 원격 조종 시스템
현실감
근 운동 감각 정보
힘 반사 원격 조종기
Teleoperation system
Telepresence
Kinesthetic information
FRHC
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