• 한국생산제조학회지
• /
• 제23권5호
• /
• pp.421-427
• /
• 2014

In this paper, the kinestatic control algorithm using a six-axis compliant device is presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, this method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment. This kinestatic control method is used to simply control the position of an industrial robot with twists of compensation, which can be decomposed into twists of compliance and twists of freedom. A simple design method of a six-axis parallel-type compliant device with a diagonal stiffness matrix is presented. A compliant device prototype and kinestatic control hardware system and programming were developed. The effectiveness of the kinestatic control algorithm was verified through two kinds of kinestatic control experiments.

• 제어로봇시스템학회논문지
• /
• 제13권6호
• /
• pp.560-567
• /
• 2007

The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.

• 제어로봇시스템학회논문지
• /
• 제15권9호
• /
• pp.952-958
• /
• 2009

This article presents a combined structure of serial and parallel mechanisms for a humanoid robot. The 3 DOF parallel structure is designed and added to the waist of the humanoid robot arm to give flexible bending and rotating motions. Forward and inverse kinematics of a serial and parallel robot have been analyzed to generate motions. Simulation studies of verifying kinematics solutions of the parallel robot have been done. Experimental studies of mimicking shake-hands motion have been conducted to show the feasibility and usability of the combined structure.

• 한국정밀공학회지
• /
• 제30권1호
• /
• pp.105-112
• /
• 2013

This paper presents the structural design and finite element analysis of precision stage based on a double triangular parallel mechanism for precision positioning and large force generation. Recently, with the acceleration of miniaturization in mobile appliances, the demand for precision aligning and bonding has been increasing. Such processes require both high precision and large force generation, which are difficult to obtain simultaneously. This study aimed at constructing a precision stage that has high precision, long stroke, and large force generation. Actuators were tactically placed and flexure hinges were carefully designed by optimization process to constitute a parallel mechanism with a double triangular configuration. The three actuators in the inner triangle function as an in-plane positioner, whereas the three actuators in the outer triangle as an out-of-plane positioner. Finite element analysis is performed to validate load carrying performances of the developed precision stage.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 추계학술대회 논문집
• /
• pp.197-203
• /
• 2005

This paper presents kinematic calibration of parallel manipulators with partial pose measurements using a device that measures a rotation of the end-effector along with its position. The device contains an LVDT, a biaxial inclinometer, and a rotary sensor and facilitates automation of the measurement procedure. The device is designed in a modular fashion and links of different lengths can be used. The additional kinematic parameters required for the measurement device are discussed, kinematic relations are derived, and cost function is established to perform calibration with the proposed device. The study is performed for a six degree-of-freedom(DOF) fully parallel HexaSlide Mechanism(HSM). Experimental results show significant improvement in the accuracy of the HSM.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2009년도 추계학술대회
• /
• pp.798-800
• /
• 2009

본 논문은 급증하는 항공 교통량을 처리하기 위해 국제민간항공기구(ICAO)를 중심으로 연구되고 있는 차세대 항공관제를 위한 시스템 중 비행자료처리시스템에서 효율적인 비행계획 상태 관리를 위한 방법론을 제안하고 있다. 본 논문에서 제안하는 비행계획 상태 관리는 입력되는 새로운 전문 및 관제사의 입력과 시간 타이머에 의한 이벤트를 구분하는 처리 구조이며, 두 가지를 병렬 처리하는 방식을 이용해서 정확하고 빠른 비행계획 상태 관리를 제공한다. 이는 향후 많은 항공 교통량을 처리하기 위한 차세대 항공관제 시스템에 적용되는 것을 그 목적으로 한다.

• 한국산업융합학회 논문집
• /
• 제24권6_2호
• /
• pp.947-952
• /
• 2021

In this paper, the simplified kinematic error model for Delta parallel robot is presented, which can enable the analytical forward kinematics essentially for kinematic calibration calculations instead of the numerical one. The simplified kinematic error model is proposed and the forward kinematics including the error parameters is analytically derived. The kinematic calibration algorithm of the Delta parallel robot with 90 degree arrangement using laser tracker and the experiment result are presented.

• 스마트미디어저널
• /
• 제7권3호
• /
• pp.51-56
• /
• 2018

바나나는 유엔식량농업기구가 지정한 세계에서 여덟 번째로 중요한 작물이며, 주요 식량인 밀, 쌀, 옥수수 다음으로 지구상에서 생산량이 네 번째로 많다. 맛뿐만 아니라 영양분도 풍부하며 미래의 주요 식량자원으로도 주목받는 과일이다. 하지만 바나나는 인류의 이기심에서 비롯된 비정상적인 재배방법 때문에 오늘날 멸종위기에 처해 있다. 본 연구의 목적은 교과과정을 통해 농업혁명에 대한 배경 지식이 있는 중 고등학생들에게 바나나 멸종에 관한 정보를 쉽고 흥미롭게 전달할 수 있는 디지털 정보 콘텐츠를 개발하는 것이다. 바나나가 멸종위기에 처하게 된 원인과 과정을 스토리텔링 기법을 활용하여 선형적 구조로 보여줌으로써 사용자들이 흥미를 갖도록 하였다. 또한 여러 단계로 구성된 스토리와 각각의 스토리를 뒷받침하는 정보 그래픽의 관계를 상하로 움직이는 병렬구조를 활용하여 시각화시킴으로써 본 콘텐츠와 사용자 사이의 자연스러운 상호작용이 일어나도록 하였다. 본 연구를 통해 멸종위기 종에 대한 인류의 관심이 증대되기를 기대한다.

• 한국전자통신학회논문지
• /
• 제7권3호
• /
• pp.485-490
• /
• 2012

본 논문에서는 선박의 진동에 의하여 수명이 짧은 필라멘트를 사용하는 조명기구를 대체하기 위하여 선박용 LED 조명등 구동회로를 설계 및 구현하였다. 구동회로는 부피를 줄이고 비용을 절감하기 위하여 변압기가 없는 스위칭 회로로 설계되었다. 스위칭 회로는 입력 교류전압 220 V에 PWM 제어를 함으로써 안정적으로 LED를 구동할 수 있도록 설계하였다. 스위칭 회로의 펄스성 전류에 대하여 Valley-fill 방식의 역률 보상회로를 채용함으로써 역률를 개선하였다. 장기간 운항하는 선박에서의 조명등 교체 주기를 줄여 관리를 효율적으로 할 수 있도록 직병렬 배열로 LED 모듈 회로를 설계하여 LED의 일부가 손상되더라도 LED 모듈이 조명등 기능을 할 수 있도록 하였다. 개발한 구동회로를 포함한 조명기구는 전력소모와 역률이 각각 39 W, 0.925 로 선박 조명에 적합함을 확인하였다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2004년도 추계학술대회
• /
• pp.708-713
• /
• 2004

This research develops a sensorless hydraulic servo system of Parallel-Typed robot for harbour construction. Purpose of the robot is to mechanize the construction, which is accomplished through a joystick's operating by a stoneworker (or diver). The robot is attached on the end of an excavator as its attachment or transported by a crane to reach the desired place. The embedded compact controller is installed on the robot body and controlled by wireless telecommunication. For underwater work, it is necessary to waterproof the robot and its sensors. Especially, a sensor waterproof is a main drawback for the underwater robot. This leads us to develop a hydraulic robot position controller using an observer which gives the position information without any position sensor. We design a neural network to identify the displacement change according to the command voltage to servo valve. To verify the sensorless controller, this paper presents the performance of the sensorless control for which the position is given by the observer comparing with that of the sensor control for which the position is measured by LVDT sensors.