{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,27]],"date-time":"2026-04-27T10:51:23Z","timestamp":1777287083316,"version":"3.51.4"},"reference-count":19,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2021,6,1]],"date-time":"2021-06-01T00:00:00Z","timestamp":1622505600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003052","name":"Ministry of Trade, Industry and Energy","doi-asserted-by":"publisher","award":["20005074"],"award-info":[{"award-number":["20005074"]}],"id":[{"id":"10.13039\/501100003052","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Nowadays, many types of manipulators have been developed and used in lots of production processes. Force-based control methods or additional mechanical devices called Remote Center Compliance (RCC) have increased the system\u2019s compliance and accuracy. However, the force-based control method\u2019s operating speed is low, and the RCC cannot measure deflection. Thus it cannot calculate the position of the end-effector accurately. For accurate force and position control, it is necessary to measure the deflection of the RCC and to perform this, a different type of device than the existing RCC is required. This paper presents the necessity and possibility of developing an RCC capable of measuring the displacement of the end-effector and showing the displacement sensor\u2019s feasibility using a 6 DOF parallel mechanism. In particular, we suggest that it is possible to make devices cheaper and more compact by using angular displacement sensors. Finally, we show the possibility of use in actual industrial sites through peg-in-hole simulation using the device.<\/jats:p>","DOI":"10.3390\/s21113832","type":"journal-article","created":{"date-parts":[[2021,6,1]],"date-time":"2021-06-01T23:07:03Z","timestamp":1622588823000},"page":"3832","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Development of 6 DOF Displacement Sensor Using RUS Parallel Mechanism"],"prefix":"10.3390","volume":"21","author":[{"given":"Donghyun","family":"Kim","sequence":"first","affiliation":[{"name":"Department of Robotics, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu 42988, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sunghyun","family":"Choi","sequence":"additional","affiliation":[{"name":"Department of Robotics, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu 42988, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2254-5274","authenticated-orcid":false,"given":"Dongwon","family":"Yun","sequence":"additional","affiliation":[{"name":"Department of Robotics, Daegu Gyeongbuk Institute of Science and Technology (DGIST), Daegu 42988, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,6,1]]},"reference":[{"key":"ref_1","first-page":"546","article-title":"Autonomous industrial assembly using force, torque, and RGB-D sensing","volume":"34","author":"Watson","year":"2020","journal-title":"Adv. Robot."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1729881419851619","DOI":"10.1177\/1729881419851619","article-title":"Automatic precision robot assembly system with microscopic vision and force sensor","volume":"16","author":"Ma","year":"2019","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"He, G., Shi, S., Wang, D., and Liu, H. (2019, January 4\u20137). A Strategy for Large Workpiece Assembly Based on Hybrid Impedance Control. Proceedings of the 2019 IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China.","DOI":"10.1109\/ICMA.2019.8816475"},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Park, D.I., Kim, H., Park, C., Kim, B., Kim, D., and Kyung, J.H. (2017, January 27). Variable passive compliance device for the robotic assembly. Proceedings of the 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju, Korea.","DOI":"10.1109\/URAI.2017.7992818"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"167534","DOI":"10.1109\/ACCESS.2019.2954459","article-title":"A robotic peg-in-hole assembly strategy based on variable compliance center","volume":"7","author":"Wang","year":"2019","journal-title":"IEEE Access"},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Yang, J., Kim, J., Kim, D., and Yun, D. (2021). Shock Resistive Flexure-Based Anthropomorphic Hand with Enhanced Payload. Soft Robot.","DOI":"10.1089\/soro.2020.0067"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"371","DOI":"10.1243\/PIME_PROC_1965_180_029_02","article-title":"A platform with six degrees of freedom","volume":"180","author":"Stewart","year":"1965","journal-title":"Proc. Inst. Mech. Eng."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"561","DOI":"10.1109\/56.20442","article-title":"Kinematic analysis for a six-degree-of-freedom 3-PRPS parallel mechanism","volume":"4","author":"Behi","year":"1988","journal-title":"IEEE J. Robot. Autom."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"145","DOI":"10.1016\/j.mechmachtheory.2005.05.004","article-title":"Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms","volume":"41","author":"Liu","year":"2006","journal-title":"Mech. Mach. Theory"},{"key":"ref_10","first-page":"26","article-title":"Statics analysis and examination research of 3-RSS\/S parallel mechanism","volume":"30","author":"Lu","year":"2013","journal-title":"J. Mach. Des."},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Gosselin, C. (1989, January 17\u201321). Determination of the Workspace of 6-DOF Parallel Manipulators. Proceedings of the ASME 1989 Design Technical Conferences, 15th Design Automation Conference: Volume 3-Mechanical Systems Analysis, Design and Simulation Montreal, Quebec, QC, Canada.","DOI":"10.1115\/DETC1989-0141"},{"key":"ref_12","unstructured":"Geng, Z., and Haynes, L. (1991, January 9). Neural network solution for the forward kinematics problem of a Stewart platform. Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"1698","DOI":"10.1016\/j.engappai.2013.03.011","article-title":"Solving the forward kinematics problem in parallel robots using Support Vector Regression","volume":"26","author":"Morell","year":"2013","journal-title":"Eng. Appl. Artif. Intell."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"254","DOI":"10.1115\/1.1348018","article-title":"Forward kinematics in polynomial form of the general Stewart platform","volume":"123","author":"Innocenti","year":"2001","journal-title":"J. Mech. Des."},{"key":"ref_15","unstructured":"Jiang, Q. (2008). Singularity-Free Workspace Analysis and Geometric Optimization of Parallel Mechanisms. [Ph.D. Thesis, University Laval]."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1016\/j.rcim.2018.09.008","article-title":"Assembly process monitoring algorithm using force data and deformation data","volume":"56","author":"Lee","year":"2019","journal-title":"Robot. Comput. Integr. Manuf."},{"key":"ref_17","unstructured":"Nayak, S. (2009). Development of a 6 DOF Compliant Parallel Mechanism to Sense and Control the Force-Torque and Displacement of a Serial Robot Manipulator. [Master\u2019s Thesis, University of Florida]."},{"key":"ref_18","unstructured":"Filho, S.C.T., and Cabral, E.L.L. (2005, January 6\u201311). Kinematics and workspace analysis of a parallel architecture robot: The Hexa. Proceedings of the 18th International Congress of Mechanical Engineering, Ouro Preto, Brazil."},{"key":"ref_19","unstructured":"Gallagher, N. (2019). Design and Development of a Stewart Platform and Its Subsequent Adaptation for Use in CNC Applications. [Bachelor\u2019s Thesis, Lakehead University]."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/11\/3832\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T06:09:49Z","timestamp":1760162989000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/21\/11\/3832"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,6,1]]},"references-count":19,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2021,6]]}},"alternative-id":["s21113832"],"URL":"https:\/\/doi.org\/10.3390\/s21113832","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,6,1]]}}}