DSpace Collection: https://pubs.kist.re.kr/handle/201004/148689 2026-04-13T00:34:43Z 2026-04-13T00:34:43Z 02 4차 산업혁명과 미래사회 II KIM SEUNGWON 김용대 김지현 박성준 이상은 이준기 이호근 정미현 한상기 https://pubs.kist.re.kr/handle/201004/149281 2024-07-10T10:00:02Z 2020-12-01T00:00:00Z Title: 02 4차 산업혁명과 미래사회 II Authors: KIM SEUNGWON; 김용대; 김지현; 박성준; 이상은; 이준기; 이호근; 정미현; 한상기 2020-12-01T00:00:00Z Algebraic Insight on the Concomitant Motion of 3RPS and 3PRS PKMs Nigatu, H. Yihun, Y. https://pubs.kist.re.kr/handle/201004/149280 2025-09-30T07:00:54Z 2019-12-01T00:00:00Z Title: Algebraic Insight on the Concomitant Motion of 3RPS and 3PRS PKMs Authors: Nigatu, H.; Yihun, Y. Abstract: This study presents an algebraic method to detect, count, and identify concomitant motions of parallel robots at the velocity level. The pose and orientation of moving platform of parallel manipulators (PMs) with f-DOF could be commonly described by f possible motion variables on the instantaneous motion space (IMS) and restriction motion variables on the instantaneous restriction space (IRS). However, in some situations, PMs moving platform may accompanied by a concomitant (parasitic) motions along the direction of restriction space. Therefore, the commonly understood one-to-one correspondence between joint space and task space mobility of non-redundant PMs would be compromised. This phenomenon occurred due to the fact that the alignment of screws can change the reciprocal screws while the given screw systems are still maintained. To demonstrate the proposed method, an amplitude-based concomitant motion comparison is performed on two widely utilized lower-mobility parallel mechanisms, 3RPS and 3PRS. The result has shown that for the selected mechanisms, concomitant motion is identical regardless of their difference in joint arrangements in each limbs. ？ 2020, Springer Nature Switzerland AG. 2019-12-01T00:00:00Z 제4차 에너지기술개발계획 이노베이션로드맵-태양광 분야 명승협 손해정 서장원 고민재 권정 김진영 서동철 원창섭 이해석 홍근기 안나경 https://pubs.kist.re.kr/handle/201004/149160 2024-02-21T07:48:50Z 2020-03-01T00:00:00Z Title: 제4차 에너지기술개발계획 이노베이션로드맵-태양광 분야 Authors: 명승협; 손해정; 서장원; 고민재; 권정; 김진영; 서동철; 원창섭; 이해석; 홍근기; 안나경 2020-03-01T00:00:00Z 미술관에 간 물리학자 SEO, MIN AH https://pubs.kist.re.kr/handle/201004/149157 2024-02-21T07:48:50Z 2020-02-01T00:00:00Z Title: 미술관에 간 물리학자 Authors: SEO, MIN AH 2020-02-01T00:00:00Z