Wheekuk Kim — accepted AI-conference papers

2020

Development of a Spherical 2-DOF Wrist Employing Spatial Parallelogram Structure

Hyunhwan Jeong, Sunhyuk Baek, Wheekuk Kim, Byung-Ju Yi

IROS 2020poster

A spherical two-degree-of- freedom wrist adapting the structure of the spatial parallelogram is proposed. A U type extended link out of three UU type limbs of the spatial parallelogram is selected as an output link. As a result, the wrist can be interpreted as being formed by combination of a U type…

Cited by 6 Source ↗Scholar ↗

2016

Kinematic modeling, analysis, and load distribution algorithm for a redundantly actuated 4-DOF parallel mechanism

Long Kang, Wheekuk Kim, Byung-Ju Yi

IROS 2016poster

This paper presents the kinematic modeling and analysis of a gravity balanced 3T1R parallel mechanism with actuation redundancy. The screw theory is employed for Jacobian derivation and singularity analysis. Actuation redundancy is introduced to eliminate forward kinematic singularities. Moreover, t…

Cited by 6 Source ↗Scholar ↗