• Proceedings of the KSME Conference
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• 2004.11a
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• pp.573-578
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• 2004

This paper presents a methodology for the stiffness analysis of a low-DOF parallel manipulator. A low-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees of freedom. The reciprocal screws of actuations and constraints in each leg can be determined by making use of the theory of reciprocal screws, which provide information about reaction forces due to actuations and constraints. When pure force is applied to a leg, the leg stiffness is modeled as a linear spring along the line. For pure couple, it is modeled as a rotational spring about the axis. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to actuations and 6-F springs related to constraints connected from the moving platform to the base in parallel. The $6{\times}6$ Cartesian stiffness matrix is obtained, which is the sum of the Cartesian stiffness matrices of actuations and constraints. Finally, a 3-UPU parallel manipulator is used as an example to demonstrate the methodology.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.42-53
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• 1993

이 논문에서는 정밀로봇 설계에 관한 여려 사안을 다루었다. 정밀로봇이란 미세한 오차와 정밀한 제어로 기존 로봇의 정밀도 향상을 위한 작고, 정밀한 운동범위를 갖춘 로봇이다. 원하는 운동범위나 효과적인 힘 전달률, 최소한 작은 힘으로의 동작을 수행하기 위한 최적의 기구학적 변수를 컴퓨터 시뮬레이션을 통하여 구현하고자 한다. CAD/CAM 시스템을 이용한 합성, 해석 및 제작을 위한 정보가 만들어질 수 있으며 최대 휨 및 응력해석을 통하여 최종적인 검증 및 설계 변경을 위한 자료로서 사용될 수 있을 것이다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.4
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• pp.353-360
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• 2015

Commercial drivers feel tired more than the general public, because their driving times are long and they experience more idle vibration. In this study, we developed a nonlinear model of a magnetic, linear spring seat suspension to determine the optimal design to improve ride comfort. The resonant frequency for the optimal design of the suspension was found to be 3.5 Hz, and the stiffness was analyzed through displacement-load experiments. Additionally, the vibration transmissibility was analyzed by the suspension stiffness, and the existing coil spring type vibration transmissibility was found to be 0.99. A parallelogram type magnetic spring was determined to result in a better performance than the existing spring with a vibration transmissibility of 0.823.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.893-900
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• 1994

In this study, workspace analysis has been performed for a Clemens Coupling type parallel robotic wrist with four degrees of freedom such as three angular degrees of freedom and 1 plunge motion. Because of plunge motion, this mechanism has no singular point that the general roll-pitch-roll mechanisms have. Also, proposed mechanism performs larger load, faster motion, with less weight and has better structural characteristics such as higher stiffness and strength to weight ratio compared with serial type mechanisms. As a basic step for position control, the closed form solution of forward and inverse kinematics are proposed and workspace is analyzed and plotted by applying triangle tracer method for workspace boundary tracing.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.7
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• pp.851-858
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• 2011

Nanopositioning technologies play an important role in the progress of electronics, optics, bio-engineering and various nano-scale technologies. As a result, various practical nanopositioning methods have been successfully introduced. Flexure mechanism is a valuable method in nanopositioning because of smooth and friction-free motion and the infinitesimal movement near to sub-nm. In this study a modularized nanopositioner based on parallelogram four-bar linkage structure with right-circular flexure hinge was developed. The positioning performance of a single axis nanopositioner and a XY nanopositioner which was extended from single axis one were demonstrated using control experiments. Consequently, it was shown that the developed single axis nanopositioner possessed high performance and could be extended to various multi-axis nanopositioners.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.5 s.98
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• pp.200-208
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• 1999

The statics relation of the Stewart platform has been investigated from the viewpoint of the forward and inverse force transmission analyses. Two eigenvalue problems corresponding to the forward and inverse force transmission analyses have been formulated. The forward force transmission analysis is to determine the ranges of the magnitudes of the force and moment generated at the end-effector for the given magnitude of linear actuator forces. In reverse order, the inverse force transmission analysis is to find the range of the magnitude of actuator forces for the given ranges of the magnitudes of the force and moment at the end-effector. The inverse force transmission analysis is important since it can provide a designer with a valuable information about how to choose the linear actuators. It has been proved that two eigenvalue problems have a reciprocal relation, which implies that solving either of the eigenvalue problems may complete the forward/inverse force transmission analysis. A numerical example has been also presented.

• Journal of dental hygiene science
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• v.4 no.3
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• pp.97-102
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• 2004

In order to find out the rate of error according to intraoral standard radiographic techniques, this study analyzed 3,251 standard films, and conducted a questionnaire with 120 Daegu Health College students who have used the bisecting angle technique and the paralleling technique. Followed are the results of the study: 1. The rate of error was the highest in canine from both maxilla and mandible when used by the bisecting angle technique. 2. The rate of error was the highest in premolar from both maxilla and mandible when used by the paralleling technique. 3. The technical error was occurred most frequently in elongation. 4. The rate of error and distortion was higher in the bisecting angle technique than in the paralleling technique. 5. The processing error was occurred most frequently in light film. 6. In applying radiographic techniques, the subjects indicated that the vertical angulation of central radiation in the bisecting angle technique and the oral fixation of film holder in the paralleling technique were the most difficult.

• Journal of the korean academy of Pediatric Dentistry
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• v.28 no.1
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• pp.185-194
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• 2001

This study was designed to evaluate the effects of angulation changes of head posture on the enlargement ratios of a lateral headfilm depending on the vortical or horizontal rotation of the objects. A device was constructed to measure regional changes of enlargement ratios. The device was held within the cephalostat and cephalograms recorded at each measured degrees of the device tilting, vertically and horizontally. The enlargement ratios of the horizontal, vertical, and angular measurements on the films taken at each tilted angulations were obtained and compared with those on the films taken without rotation. In summary, the enlargement ratios of the horizontal linear measurements were decreased during horizontal rotations. The enlargement ratios of vortical measurements of the right side on the film were increased and those of the left side were decreased by the horizontal rotations. Enlargement ratios of horizontal measurements were affected further than those of vertical measurements by the same angular changes of the horizontal rotations. Therefore, a disruption of parallelism between the object's midsagittal plane and the film could result in distortion of the image while vertical rotation around the object's porionic axis would not significantly affect the enlargement ratios on the headfilm.

• Proceedings of the Korea Crystallographic Association Conference
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• 2003.05a
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• pp.11-11
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• 2003

전자현미경내에서 일부 무기 및 금속 시료들은 전자빔 조사에 의해 시료구조가 손상되거나 비정질화 또는 상전이 등과 같은 구조전이 현상들을 겪게 된다. 즉, 전자빔 조사에 의해 시료는 원자간 결합이 끊어져 나타나는 Knock-on damage, 시료 원자 주위의 전자들과의 상호 작용에 의해 나타나는 Ionization damage, 빔 에너지의 시료온도 상승 기여에 의한 Radiolysis damage 등의 현상들을 경험하게 된다. 이러한 현상은 전자현미경의 가속전압, 전자밀도, 시료 조건 등에 따라 그 지배기구가 다르며 동일한 시편이라도 시료의 두께와 시편온도를 결정하는 전자빔 조사선량에 따라 그 양상과 전이 속도가 달라진다. 본 연구에서는 전자빔 조사에 의해 구조 전이를 겪게 되는 대표적 무기수화물의 하나인 Cibbsite에 대해 전자빔 조사효과에 대한 정량적 고찰을 에너지 여과 투과전자현미경 (EF-TEM)을 이용하여 시도하였다. 전자빔 조사는 120분까지 실시하였고 각 시간별로 에너지 필터와 Imaging plate를 이용하여 Gibbsite의 회절패턴과 미세조직 변화를 기록하였다 빔조사 시엔 illumination angle을 1.25mrad(Dose rate : 334 × 10³ e/sup -//sec·n㎡)으로 하였으며 사진기록 시엔 최소 illumination angle인 0.04mrad(Dose rate : 413 e/sup -//sec·n㎡)을 사용하였다. 시료의 관찰방향은 [001]방향이고 관찰시료두께는 약 50nm로 평가되었으며 시료의 화학변화는 EDS를 이용하여 분석하였다. 회절자료의 Intensity는 ELD/CRISP 프로그램을 이용하였으며 빔조사선량은 평행조사빔이 시료와 상호 작용하는 면적과 상호작용하지 않을 때의 빔을 회절모드에서 faraday cup으로 측정한 빔전류로 부터 계산하였다. Gibbsite에 대한 전자빔 조사 시 1분 이내에 급격한 Hydroxyl Ion(OH-)의 이탈로 인해 Cibbsite의 구조는 거시적 비정질화가 되며 시간증가에 따라 χ-alumina → ν-alumina → σ-alumina or δ-alumina의 순으로 상전이를 겪는다. 전자빔 조사 시 관찰된 회절자료의 가시적 변화를 통해 illumination angle 1.25mrad(Dose rate : 334 × 10³ e/sup -//sec·n㎡)일 경우 약 3초 이내에 비정질화가 시작됨을 알 수 있었고 이는 약 1 × 10/sup 6/ e/sup -//sec·n㎡ 의 전자선량에 해당되며 이를 기준으로 각각의 illumination angle에 대한 임계전자선량을 평가할 수 있었다. 실질적으로 Cibbsite와 같은 무기수화물의 직접가열실험 시 전자빔 조사에 의해 야기되는 상전이 영향을 배제하고 실험을 수행하려면 illumination angle 0.2mrad (Dose rate : 8000 e/sup -//sec·n㎡)이하로 관찰하고 기록되어야 함을 본 자료로부터 알 수 있었다.

• Applied Chemistry for Engineering
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• v.20 no.6
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• pp.638-645
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• 2009

High alumina refractory used in a coal gasifier was analyzed and the degradation mechanism by molten slag was investigated. The depth of refractory severely damaged by slag varied between 12~40 mm, including the adhered slag layer. The sample also showed the cracks formed in parallel to the slag/refractory interface. The degree of degradation varied with the micro-structures in the refractory. Fused alumina grains showed the uneven boundary and pore formation just along the edges, while the tablet alumina showed the slag penetrated between sintered alumina around which the formation of Al-Fe phase was observed. Calcium aluminate cements were not observed at the high temperature zone near the slag/refractory interface, probably due to dissolution into molten slag. Around large grains of alumina, rod shape alumina, which appeared to be recrystallized during cooling, were observed, and large pores were also formed around those grains. Therefore, in high alumina refractories, hot molten slag dissolves the bonding phase and rod-shape alumina phase is recrystallized upon cooling. During this process, cracks are developed due to structural change, and the degradation occurs by physical causes such as structural spalling.