The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
권호 표지

Design and Implementation of a 3 DOF Robotic Lamp

3자유도 조명로봇 설계 및 구현

  • 이윤석 (한양대학교 지능형로봇학과) ;
  • 서종태 (한양대학교 메카트로닉스공학과) ;
  • 김희국 (고려대학교 제어계측공학과) ;
  • 이병주 (한양대학교 전자컴퓨터 공학부)
  • Received : 2010.06.08
  • Accepted : 2010.06.29
  • Published : 2010.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a new robotic lamp that creates three degrees of freedom (DOF) motion by using a spherical-type parallel mechanism with a unique forward kinematic position. In the robotic lamp, three motors are placed at the base frame to control two tilting angles and one zoom in-and-out motion for a localized light. The kinematic model of this device is derived and the proto type has been developed. The performance of this device was verified through experiment.

Keywords

References

  1. Hoffman, G. and Breazeal, C. "Achieving Fluency Through Perceptual-Symbol Practice in Human-Robot Collaboration," 3rd ACM/IEEE international Conference on Human Robot Interaction, 2008.
  2. 양창일, "3자유도 액츄에이터" 특2001-0016683, 1999.
  3. Lee. S. H., Kim, W. K., Oh, .S-M., and Yi, B.-J., "Kinematic Analysis and Implementaion of a Sherical 3-Degree of Freedom Parallel Machanism," IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2005, pp.809-814.
  4. Lionel Birglen, Clement M. Gosselin, Nicolas Pouliot, Bruno Monsarrat and Thierry Laliberte, "SHaDe, a new 3-dof haptic device," IEEE Transactions on Robotics and Automation, Vol.18, No.2, pp.166-175, 2002. https://doi.org/10.1109/TRA.2002.999645
  5. Park, B-J, Yi, B-J, Kim, W-K, "Design and Analysis of a New Parallel Grasper Having Spherical Motion," IEEE/RSJ International Conference on Intelligent Robots and System, 2004.
  6. Steven R.H. Barrett, Nevan C. Hanumara, Conor j. Walsh, Alexander H. Slocum, Rajiv Gupta, Jo-Anne O. Shepard "A Remote Needle Guidance System For Percutaneous Biopsies" ASME International Design Engineering Technical Conferences ,USA, 2005.
  7. Mitchell, Jay and Hiroshi, Lum, "Kinematic Optimization of a 2-DOF Spherical Mechanism for a Minimally Invasive Surgical Robot," MSEE Thesis, University of Washington, Department of Electrical Engineering, December 2004.
  8. Kong, X. and Gosselin, C.M., "Type synthesis of 3-DOF Spherical Parallel Manipulators," International Journal of Robotics Research, Vol.23, No.3, pp.237-245, 2004. https://doi.org/10.1177/0278364904041562
  9. Rosheim, M.E., "Robot Evolution: The Development of Anthrobotics," John Wiley & Sons, Canada, Ltd., 1994.
  10. Di Gregorio, R., "A New Parallel Wrist Using Only Revolute Pairs:The 3-RUU Wrist," Robotica, Vol.19, No.3, pp.183-304, 2001.
  11. Di Gregorio, R., "Kinematics of a New Spherical Parallel Manipulator with Three Equal Legs: the URC wrist," Journal of Robotic Systems, Vol.18, No.5, pp.213-219, 2001. https://doi.org/10.1002/rob.1017
  12. Kurz, R. and Hayward, W., "Multiple-Goal Kinematic Optimization of a Parallel Spherical Mechanism with Actuator Redundancy," IEEE Trans. on J. of Robotics and Automation, Vol.8, No.5, pp.644-651, 1992. https://doi.org/10.1109/70.163788
  13. Yi, B.-J., Tesar, D., and Freeman, R.A., "Analysis of a Redundantly Actuated Fault-Tolerant Spherical Shoulder Module," ASME 22st Biennial Mechanism Conference, 1992.