Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 송철 | - |
| dc.contributor.author | Jiyeon Baik | - |
| dc.date.accessioned | 2022-07-07T02:29:15Z | - |
| dc.date.available | 2022-07-07T02:29:15Z | - |
| dc.date.issued | 2021 | - |
| dc.identifier.uri | http://dgist.dcollection.net/common/orgView/200000364675 | en_US |
| dc.identifier.uri | http://hdl.handle.net/20.500.11750/16702 | - |
| dc.description.statementofresponsibility | N | - |
| dc.description.tableofcontents | I. INTRODUCTION 1 1.1 Introduction of vitreoretinal surgery 1 1.2 Previous studies of surgical robots for vitreoretinal surgery 3 1.3 Remote Center of Motion (RCM) mechanism 5 1.4 Advantages and disadvantages of current robots 7 1.5 Study Purpose 8 II. SYSTEM DESIGN 9 2.1 Requirements of handheld manipulators 9 2.2 Design of 3-DOF manipulator 10 2.3 Kinematics of the 3-DOF manipulator 12 2.4 Control algorithm 18 III. EXPERIMENTS AND RESULTS 26 3.1 Experiment materials 26 3.2 RCM accuracy test 27 3.3 Hand tremor reduction 28 3.4 Control algorithm 31 IV. DISCUSSION 33 V. CONCLUSION 35 References 36 |
- |
| dc.format.extent | 38 | - |
| dc.language | eng | - |
| dc.publisher | DGIST | - |
| dc.subject | Parallel manipulator, remote center of motion mechanism, 병렬 매니퓰레이터, 움직임의 원격 중심(RCM) | - |
| dc.title | A Study on Smart 3-DOF Parallel Micromanipulator | - |
| dc.title.alternative | 스마트 3 자유도 병렬 마이크로매니퓰레이터에 대한 연구 | - |
| dc.type | Thesis | - |
| dc.identifier.doi | 10.22677/thesis.200000364675 | - |
| dc.description.degree | Master | - |
| dc.contributor.department | Robotics Engineering | - |
| dc.contributor.coadvisor | Sukho Park | - |
| dc.date.awarded | 2021/02 | - |
| dc.publisher.location | Daegu | - |
| dc.description.database | dCollection | - |
| dc.citation | XT.RM 백78 202102 | - |
| dc.contributor.alternativeDepartment | 로봇공학전공 | - |
| dc.embargo.liftdate | 2023-08-31 | - |
| dc.contributor.affiliatedAuthor | Jiyeon Baik | - |
| dc.contributor.affiliatedAuthor | Cheol Song | - |
| dc.contributor.affiliatedAuthor | Sukho Park | - |
| dc.contributor.alternativeName | 백지연 | - |
| dc.contributor.alternativeName | Cheol Song | - |
| dc.contributor.alternativeName | 박석호 | - |
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