• CDE review
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• v.23 no.1
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• pp.52-57
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• 2017

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.921-922
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• 2011

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.562-565
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• 2000

For solving problems of manpower and improving working environment, Robot System have been introduced. In the past, Robot System was adopted mass production, indoor factory condition, but present Robot System is applied to many other fields. This applied field is Robot System was adopted fruit harvest, maintenance, and so on. The developed Multi-Linked Lifter is applied to eminant multi-purpose working. The purpose of this study is to develop control algorithm for this equipment composed of multi-linked manipulator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.1
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• pp.89-95
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• 2013

This study investigates a parallel manipulator that can move over two parallel sliders and in which the end-effector of the manipulator can be adjusted arbitrarily. Through the direct and inverse kinematics of the manipulator, position equations are derived. These equations represent the relationship between the positions of the sliders and the position of the end-effector. The Jacobian matrices of the direct and inverse kinematics are obtained by these equations. By using the condition number defined from these matrices, the local performance index of the manipulator is proposed. By using the simulation results of the performance index, we find that the manipulator can smoothen movements in only one quadrant and that the distribution of the maximal performance index is affected by the ratio of the length of links and the orientation of the end-effector.

• Journal of the Korea Computer Graphics Society
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• v.20 no.1
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• pp.1-11
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• 2014

Patients with cerebral palsy or arthritis have deformities in lower limb which cause unstable gait or posture and pains. Surgeons perform a deformity correction osteotomy with surgical plan. But sometimes they find the unexpected angular or rotational deformation after surgery. The problems are that there is no method to predict the result of a surgical plan and also there are so many factors to must consider in surgical planning step such as clinical measurements, rotation angle, wedge angle, morphology of lower limb, etc. This paper presents new methods for planning the deformity correction osteotomy efficiently. There are two approaches based on the 3D mesh model and the accurate assessment of the patient's lower limb. One is the manual pre-simulation of surgery using forward kinematics. And the other is the automatic surgical planning using inverse kinematics and nonlinear optimization. Using these methods, we can predict and verify the results of various surgical treatments and also we can find a more effective surgical plan easily compared to conventional methods.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.156-162
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• 2001

An effective and practical method is presented for solving the forward kinematics of a 6-DOF Stewart Platform, using neural network algorithm together with Newton-Raphson method. An approximated solution is obtained from trained neural network, then it is used as an initial estimate for Newton-Raphson method. A series of accurate solutions are calculated with reasonable speed for the entire workspace of the platform. The solution procedure can be used for driving a real-time simulation platform.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.255-258
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• 2001

This introduces a improved method of the forward kinematics analysis, which finds the 6DOF motions and velocities from the given six cylinder lengths in the Steward platform. The numerical method(Newton Raphson Mehotd)of the forward kinematics analysises has the disadvantage of the long calculated time. To overcome this, we propose the competitive method that determine a proper initial value. Through the competitive method, we can select a proper initial value so that the calculate time is reduced. therefore we can give the property of the real time process to the forward kinematics analysis. We show the result comparing between general Newton-Raphson method and proposed one. From the result we verify the performance of the proposed method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.2
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• pp.202-208
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• 2008

A 6 DOF Multi axis simulation table (MAST) is used to perform vibration and fatigue tests for parts or assemblies of automobiles, aircraft, or other systems. It consists of a table and 6 linear actuators. For its attitude control, we have to adjust the lengths of 6 actuators properly. The system is essentially a parallel mechanism. Three actuators are connected to the table directly and other three actuators are connected indirectly. Because of these, the MAST shows also a serial mechanism#s property: the inverse kinematics is more complicated than a pure parallel mechanism and each actuator can operate independently. The authors have performed a kinematics analysis of the 6 DOF MAST. We have presented an analytical and a numerical solution for the inverse and forward kinematics, and we have verified the solutions by a 3D CAD software.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.3
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• pp.97-104
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• 2003

This paper proposes a new parallel manipulator fur plane motion, and then discusses on the workspace and kinematical characteristics of the manipulator. The conventional planar parallel manipulators have some disadvantages which are complex non-closed type direct kinematics, workspaces containing useless voids, and concave type border tines of workspaces. The proposed planar parallel manipulator overcomes the above disadvantages, that is, the manipulator has simple closed type direct kinematics, a void-free workspace, and a convex type borderline of a workspace. This paper shows the simulation result of the workspace as well as performances indices using a homogeneous inverse Jacobian.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.733-734
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• 2012