• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.12
• /
• pp.1845-1855
• /
• 2004

This paper presents the forward kinematics of the Casing Oscillator that is a construction machine. The Structure of the Casing Oscillator is similar to those of 4 degree-of-freedom mechanisms with a redundancy. With analytical (geometrical) methods, the solutions of the forward position kinematics problem are significantly found by both solving an 8$^{th}$ -order polynomial equation in one unknown variable and using one over-constraint geometrical equation which can be derived under the condition of a redundancy. The proposed forward kinematics has closed-form solutions and allows Auto-Balancing control of the moving platform in real time. Numerical examples are presented and the results are verified by an inverse kinematics analysis.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.27 no.5
• /
• pp.688-696
• /
• 2003

The casing oscillator used for basic construction of buildings, factories and bridges is a construction machine, which rotates and rolls the casing to insert it into the ground. It is very important that the casing is positioned perpendicular to the sea level regardless of the slope of the ground. In this paper, we present a new casing oscillator that doesn't need additional work to level the ground for the casing insertion. The kinematic analysis fur work space of a casing oscillator is presented and carried out with auto-balancing of the casing oscillator using posture feedback control.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.05a
• /
• pp.442-445
• /
• 2002

The casing oscillator used for the foundation work in the construction place. Construction machinery which makes the casing rotate and roll can insert the casing in the ground. It is very important to make the casing perpendicular to sea level regardless of slope of ground. So in this paper, we present the new type casing oscillator that need not to level the ground for the work of casing insertion. The inverse kinematics analysis for the real-time control of casing oscillator is presented.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.12
• /
• pp.47-53
• /
• 2000

The casing oscillator is a construction equipment to clamp, oscillate and push a casing for foundation work. In case that the casing oscillator is operated on the slant ground, if another construction heavy equipment is not used, it is impossible to insert the casing in ground using only casing oscillator. So in this paper, we present the new casing oscillator that need not to level the ground for work of casing insertion. This mechanism can execute 4 DOF motion by actuating 5 single - rod hydraulic cylinders. The inverse kinematics analysis of the casing oscillator is performed and we verify the validity of kinematics analysis through the experiment.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.1
• /
• pp.100-108
• /
• 2004

In this paper, the new casing oscillator, which is a construction machine and which structure is similar to that of a parallel manipulator with redundancy, is proposed. The singularity analysis of this machine is performed by two different methods. First, the singularities are found by the numerical method at configurations where the rank of the Jacobian matrix becomes deficient. The singularities are outside the workspace. To investigate the physical information on these configurations, the singularities are examined by the geometric method at configurations where the casing oscillator cannot resist the external forces and moments applied to the upper platform due to losing static equilibrium. The results of the geometric method are the same as those of the numerical method. It proves that the new casing oscillator is free from the singularity, which causes serious problems to a parallel manipulator.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.1693-1696
• /
• 2003

In this paper, input-output velocity transmission characteristics of the Casing Oscillator, which is a constructional machine with 4 degree of freedom are examined. After the Jacobian matrix is decomposed into linear part and angular part, the linear and the angular velocity transmission characteristics are analyzed and visualized in easy way even in the case of 3 dimensional task space with 4 variables. Regarding the measure of dexterity of the Casing Oscillator, the kinematic isotropic index and the manipulability measures which are respectively represented the isotropy and the volume of the manipulability ellipsoid are combined. A performance of the Casing Oscillator is evaluated by the combined manipulability measure.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.7
• /
• pp.904-914
• /
• 2004

In this paper, input-output velocity and force transmission characteristics of the Casing Oscillator which is a construction machine with 4 degrees of freedom are examined. After the Jacobian matrix is decomposed into the linear part and angular part, the velocity and force transmission characteristics for the linear and angular workspace are easily analyzed and visualized even if the Casing Oscillator has the spatial dimensional workspace with 4 DOF. Regarding the manipulability measure of the Casing Oscillator, the kinematic isotropic index and the manipulability measure which represent the isotropy and volume of the manipulability ellipsoid, respectively, are combined to coincidently consider them with respect to equivalent ranges and fluctuations. A performance of the Casing Oscillator is evaluated by the newly proposed manipulability measures.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.10a
• /
• pp.576-579
• /
• 2002

This paper presents the jacobian analysis of new type Casing Oscillator using the inverse kinematics, and to search for it's singularities through the jacobian analysis. All parallel manipulator have some singularities in workspace or it's outside workspace. Singularities were cleared by many other study of parallel manipulator f3r that reason recent publication of device control. In this paper defined that singularities of new file of Casing Oscillator and, to show it's graph. Finally this paper will be used for a practical example for construction spot, aviation simulator, vehicles simulator, military equipment etc.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.05a
• /
• pp.557-560
• /
• 2000

The Purpose of this study is analysis of kinematic for a modified manipulator and experimental test to certify auto-balancing operation. The test is carried out as follows. First, we solve the inverse kinematics and then do a closed loop control. Second we confirm translation displacement and rotation angle of a manipulator.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.1713-1716
• /
• 2003

Casing Oscillator is a construction machine that used to insert casings which is based on construction of a building or bridge into the ground. The purpose of using casing supports a pile or in case when heavy loads and moments happens. It is very important that the casings are retaining perpendicular to sea level regardless of the slope of the ground. So it requires that Casing Oscillator keep horizontality. But, it was useless a horizontal control without another heavy equipment. Tornado is a type of Casing Oscillator to advance. It controls horizontality with 4 cylinders. Those cylinders controlled by high-speed solenoid valves. This paper represents horizontal control of the Tornado using Kinematics. First. the horizontal control simulated by AMESim, which is simulation tool. then it compared with experimental results.