• Journal of the Korean Society for Precision Engineering
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• v.19 no.7
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• pp.28-35
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• 2002

This paper deals with kinematic modeling of a car-like planar mobile robot consisting of four conventional fixed wheels attached on two parallel axles. The kinematic model of such a mobile robot requires the description of skidding and sliding frictional motion. Previous kinematic model proposed by Muir and Newman$^{[1]}$ does not include such frictional motions. Thus, does it result in least square solution in estimating a sensed forward velocity solution. A modified kinematic model is proposed by incorporating transnational friction motion into the original algorithm. It is shown that transnational friction motions should be included into kinematic model of the mobile robot to represent its real physical motion.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.9
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• pp.982-989
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• 2009

Parallel Kinematic Mechanism (PKM) is a device to perform the various motion in three-dimensional space and it calls for six degree of freedom. For example, Parallel Kinematic Mechanism is applied to machine tools, medical equipments, MEMS, virtual reality devices and flight motion simulators. Recently, many companies have tried to develop new Parallel Kinematic Mechanism in order to improve the cycle time and the precisional tolerance. Parallel Kinematic Mechanism uses general universal joint and spherical joint, but such joints have accumulated tolerance problems. Therefore, it causes position control problem and dramatically life time reduction. This paper focused on the rolling element to improve sliding precision in new sliding ball joint development. Before the final design and production, it was confirmed that new sliding ball joint held a higher load and a good geometrical structure. FEM analysis showed a favorable agreement with tensile and compressive testing results by universal testing machine. In conclusions, a new sliding ball joint has been developed to solve a problem of accumulated tolerance and verified using tensile and compressive testing as well as FEM analysis.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1989.11a
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• pp.1-15
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• 1989

바이오트라이보로지(biotribology)란 생물학(biology)와 마찰학(tribology)의 합성어로서 그리이스어의 $\tau\rhoc\betao\sigma$(마찰하다)가 어원이며, 마찰 마모 윤활의 학술 용어 "tribology"가 영어로 된것은 1966년이다. 이때 마찰학이란 이학 또는 공학현상으로서 문제를 해석하는데 한정하였고 생물에 대한 문제까지 광범위하게 고려하지 못하였다. 1972년 영국 석유학회, 기계학회 그리고 Rheology 학회의 공동개최로 "윤활제의 레올로지" 회의가 열렸다. 거기서 Dowson 교수(기계공학)와 Right 교수(루마치스 의학)의 공동논문 "Bio-Tribology"를 발표해서 처음으로 그 용어를 제안하였다. Dowson 교수가 열거했던 바이오트라이보로지의 대상은 다음과 같다. (1) 기계에 사용되는 윤활제에 대한 미생물의 영향 (2) 인간의치의 마모 (3) 면도칼에 대한 저마찰 보호막의 작용 (4) 인체내의 유체수송(뇨관내의 유동기구, 타액의 운동, 혈액흐름) (5) 모세혈관내에서 적혈구의 운동과 혈장에서 그의 윤활작용 (6) 화상치료시 "정압기체 축수"적 부양 (7) 음식물을 씹을 때 타액의 윤활작용 (8) 관절기능의 윤활학적 연구 (9) 인공골두와 인공관절의 윤활학적 연구8) 관절기능의 윤활학적 연구 (9) 인공골두와 인공관절의 윤활학적 연구

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.11
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• pp.881-888
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• 2020

In this paper, research on estimation of states of a target of interest using Line Of Sight(LOS) angle measurement is performed. Target's position, velocity, and acceleration are chosen to be the states of interests. The LOS measurement is known to be highly non-linear, making target dynamic modeling hard to be implemented into a filter. To solve this issue, the Pseudomeasurement equation was applied to the LOS measurement equation. With the help of this equation, 3D variable turn target dynamic model is applied to the filter model. For better performance, Kinematic Constraint is also implemented into the filter model. As for the filter, Bias Compensation Pseudomeasurement Filter (BCPMF) is used which is known for its robustness to initial conditions. Moreover, Two-Stage Kalman Filter (TSKF) form was also implemented to benefit from the parallel computation. As a result, TBCPMF 3DVT-KC is proposed and simulated to assess performance.

• Proceedings of the KSR Conference
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• 2003.10c
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• pp.455-460
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• 2003

180km/h 급 한국형 틸팅차량의 틸팅 메카니즘 기구동역학 해석을 통하여 얻어진 틸팅 대차를 형성하는 주요 파라메터들의 값을 기반으로 틸팅대차용 엑츄에이터의 성능과 용량을 계산하여 설계에 결과를 반영하고자 한다. 승객의 안락감을 유지하기 위해 차체 틸팅 각가속도에 Sine 연속 함수를 적용하여 차체의 틸팅 제어 패턴을 결정하였으며, 이를 통해 차체의 틸팅 각속도와 틸팅각의 패턴을 얻어내었다. 또한 이번 연구를 통해 틸팅 메카니즘의 파라메타를 변화하면서 각각의 틸팅각에 따른 Swing bar 와 엑츄에이터에 작용되는 반발력에 대한 영향력을 분석, 검토하였으며, 이에 따른 엑츄에이터의 출력과 변위 속도등의 변화를 조사하였다. 이러한 결과와 틸팅 메카니즘 기구동력학 해석의 결과를 토대로 틸팅차량이 요구하는 최적의 틸팅 운동을 수행하는 파라메타를 결정하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2021.11a
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• pp.417-420
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• 2021

본 논문은 서비스 로봇 분야에서 활용 가능한, ROS기반의 객체검출과 이동 기능을 갖는 6축 로봇 팔의 설계 방법 및 성능 개선결과를 제시한다. 기구설계, 물체검출, 3D좌표생성을 통한 실시간 역 기구학 해석 방법 및 지능적 모터 및 센서 제어 방법 등에 대해 제시하였다. 특히 영상과 센서기반 처리를 통해 고정된 작업반경 내 물체를 지능적으로 검출하고 목표지점까지 이동시키며, ROS기반의 추출된 정보를 이용하여 동작의 오차를 최소화하기 위해 다관절 로봇 팔의 운동을 최적화하여 설계하였으며 다양한 관련 실험을 통해 주요성능을 검증하였다.

• Archives of design research
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• v.19 no.5 s.67
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• pp.129-138
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• 2006

It is expected that the typical lifestyle of the future will be transformed into an opulent and comfortable existence as the quality of life improves due to the increase in household income and reduction in working hours. In the meantime, as the standard of living becomes increasingly more comfortable and plentiful, the toll on physical health becomes magnified as a result of obesity and insufficient exercise caused by super nutrition and change in labor conditions (from physical labor to mental labor). This has instigated a deep awareness in fitness on the part of many people, forcing them to recognize the significance of daily exercise and physical activity. The high annual growth rate in the fitness and athletic apparatus market, which is more than 20%, is attributed to this phenomenon. The Elliptical Cross Trainer(ECT), which has drawn wide attention recently, is a non-impact athletic apparatus that not only promotes exercise of the upper body parts in such sports as skiing but also the exercise of lower parts of the body on a treadmill. It is a type of cross training athletic gear that has been developed for aerobic exercise throughout the entire body. It has already formed a market as big as that of the treadmill in Europe, America, etc. Recently, its demand is growing sharply in the Korean markets as well as those in Northeast Asian countries, Despite such demand increase and expansion, since most of the expensive ECTs are exclusively supplied by suppliers in only a few advanced countries, localization of the ECT is urgently required in order to enhance competitiveness of Korean manufacturers and to expand the market. This paper introduces the process and results of a design-engineering cooperative study that was peformed for the development of the ECT.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.8
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• pp.1206-1212
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• 2001

The kinematic analysis of Stewart platform manipulator(SPM) is carried out in order to reduce the calculation time for its forward kinematic solution when the iterative numerical method is employed. The kinematic equations for three substructures of the 6-3 SPM are newly derived by introducing Denavit-Hartenberg link parameters and using kinematic constraints associated with the SPM and substructure kinematics. It is shown that the forward kinematics can be easily solved from three nonlinear equations with three unknown variables only, leading to a great reduction in calculation time.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.743-746
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• 1997

The Master-Slave manipulator is the generally used remote handling equipment in the hot cell, in which the high level radioactive materials such as spent fuels are handled. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual workcell is implemented in the graphical environment which is the same as the real environment. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• The Journal of the Acoustical Society of Korea
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• v.5 no.2
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• pp.29-38
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• 1986

본 논문은 분극처리된 PZT 압전 세라믹 소자의 물리, 음향학적 제 특성이 시간의 함수로 나타 나는 시효현상을 다루고 있다. SrCO\sub 3\, NiO 및 Fe\sub 2\O\sub 3\를 소량 첨가하여 직접 제조한 PZT 세라믹은 분극처리 후, f\sub r\ 은 증가하는 시효현상을 보여주었다. 시효현상 기구의 이해를 위하 여 이중 포텐샬우물 모델을 이용하였으며, 외부에서 가한 응력, 역방향 전장 및 온도상승에 따라 분극현 상을 나타내었다. 시효현상의 주 원인은 분극처리시 전장 방향으로 분역들이 정렬되면서 내부에 저장되 었던 잔유응력의 이완에 의한 분역계면의 운동에 있음을 간접적으로 확인하였다. 이러한 분역계면의 운 동은 열적 활성화 에너지를 갖는 시간에 의존하는 운동으로써 분극의 감소를 유발하며, 이것이 시효현 상으로 나타나는 것으로 사료된다.