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• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.11
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• pp.395-402
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• 2016

This paper presents a design methodology for improving the energy efficiency by considering the inertial properties of serial manipulators. This method employed is to put the inertia matrix, which has a critical effect on the equation of motion, into the constraints of the optimization problem. Through the optimization process, we propose a design algorithm that can double-check whether the optimized parameters satisfy the required performance or not by using an auxiliary index associated with the inertia and energy. Using this design algorithm, we were able to improve the energy efficiency by minimizing the torque. We applied this method to a 3 degrees of freedom serial manipulator and simulated it.

• Journal of Digital Convergence
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• v.19 no.10
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• pp.75-86
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• 2021

Recently, the domestic BIPV market is expected to revitalize with the introduction of the "zero-energy building certification system(2020~)", but it is somewhat stagnant due to the rigidity of definitions in the current domestic BIPV construction standards. Also, since there is delaying revision on definition and standardization of BIPV, the system is so weak that there are cases where it has been approved as BIPV simply by installing a structure on the wall and fixing the module roughly. The damage caused by this can be passed on to consumers, and it can only create a negative perception of BIPV and jeopardize the entire market. The BIPV definition was prepared through a Delphi survey of related experts about market stagnant cause, unreasonable regulation, etc, and a revised plan was derived accordingly.