• 제목/요약/키워드: 5-DOF

검색결과 309건 처리시간 0.029초

2RPR-RP 병렬 기구의 기구학 해석 및 최적설계 (Kinematic Analysis and Optimal Design of 2RPR-RP Parallel Manipulator)

  • 남윤주;이육형;박명관
    • 대한기계학회논문집A
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    • 제29권11호
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    • pp.1509-1517
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    • 2005
  • This paper presents the two degree-of-freedom(DOF) planar parallel mechanism called 2R$\underline{P}$R-RP manipulator, whose degree-of freedom is dependent on a passive constraining leg connecting the base and the platform. First, the kinematic analysis of the mechanism is performed analytically: the inverse and forward kinematic problems are solved in the closed font the practical workspace is systematically derived, and all of the singular configurations are examined. Then, in order to determine the geometric parameters and the operating limits of the actuators, the optimization of the mechanism is performed considering its dexterity and stiffness. Finally, the kinematic performances of the optimized mechanism are evaluated through comparing to the 5-bar parallel manipulator.

과도한 기진력을 받는 다자유도계 구조물의 진동 제어를 위한 적응형 뱅뱅 제어 알고리듬의 유용성에 관한 연구 (A Study on the Applicability of Adaptive Bang-Bang Control Algorithm for the Vibration Control of Multi-DOF Structure under Unexpected Large Earthquakes)

  • 임채욱;정태영;문석준
    • 한국지진공학회논문집
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    • 제5권1호
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    • pp.53-61
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    • 2001
  • 구조물이 과동한 기진력을 받을 때에 구조물의 진동 제어를 위하여 적응형 뱅뱅 제어 알고리듬이 저자들에 의해서 제안된 바 있으며, 이 제어 알고리듬을 1자유도계의 시험 구조물에 적용하여 제어 성능을 실험적으로 확인하였다. 본 논문은 이의 연장으로서 제안된 적응형 뱅뱅 제어 알고리듬을 최상층에 유압식 농동질량 감쇠기가 설치된 다자유도계의 시험 구조물에 적용하여 이의 유용성을 확인하였다. 이를 통하여 제안된 적응형 뱅뱅 제어 알고리듬은 제어 및 전체 구조계의 안전성이 보장되는 가운데 과도항 외부의 기진력을 받는 다자유도계의 구조물의 진동을 제어함에 효과적임을 확인할 수 있었다.

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Pi-Sigma 신경 회로망을 이용한 로봇의 역 보정 (The Robot Inverse Calibration Using a Pi-Sigma Neural Networks)

  • 정재원;김수현;곽윤근
    • 한국정밀공학회지
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    • 제14권12호
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    • pp.86-94
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    • 1997
  • This paper proposes the robot inverse calibration method using a neural networks. A high-order networks called Pi-Sigma networks has been used. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the diff- erence of joint variables only between measuring value and analytic value about the desired pose(position, orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the SCARA type direct drive robot(4-DOF) and anthropomorphic robot(6-DOF) are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from .+-. 5 .deg. to .+-. 0.1 .deg. .

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받음각 효과를 고려한 발사체 날개단면의 초음속극초음속 비선형 유체유발진동해석 (Nonlinear Flow-Induced Vibration Analysis of Typical Section in Supersonic and Hypersonic Flows with Angle-of-Attack Effect)

  • 김동현;김유성;윤명훈
    • 한국군사과학기술학회지
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    • 제10권4호
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    • pp.12-19
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    • 2007
  • In this study, nonlinear flow-induced vibration(flutter) analyses of a 2-DOF launch vehicle airfoil have been conducted in supersonic and hypersonic flow regimes. Advanced aeroelastic analysis system based on computational fluid dynamics and computational structural dynamics is successfully developed and applied to the present analyses. Nonlinear unsteady aerodynamic analyses considering strong shock wave motions are conducted using inviscid Euler equations. Aeroelastic governing equations for the 2-DOF airfoil system is solved by the coupled integration method with interactive CFD and CSD computation procedures. Typical wedge type airfoil shapes with initial angle-of-attacks are considered to investigate the nonlinear flutter characteristics in supersonic(15). Also, the comparison of detailed aeroelastic responses are practically presented as numerical results.

A 3-DOF forced vibration system for time-domain aeroelastic parameter identification

  • Sauder, Heather Scot;Sarkar, Partha P.
    • Wind and Structures
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    • 제24권5호
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    • pp.481-500
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    • 2017
  • A novel three-degree-of-freedom (DOF) forced vibration system has been developed for identification of aeroelastic (self-excited) load parameters used in time-domain response analysis of wind-excited flexible structures. This system is capable of forcing sinusoidal motions on a section model of a structure that is used in wind tunnel aeroelastic studies along all three degrees of freedom - along-wind, cross-wind, and torsional - simultaneously or in any combination thereof. It utilizes three linear actuators to force vibrations at a consistent frequency but varying amplitudes between the three. This system was designed to identify all the parameters, namely, aeroelastic- damping and stiffness that appear in self-excited (motion-dependent) load formulation either in time-domain (rational functions) or frequency-domain (flutter derivatives). Relatively large displacements (at low frequencies) can be generated by the system, if required. Results from three experiments, airfoil, streamlined bridge deck and a bluff-shaped bridge deck, are presented to demonstrate the functionality and robustness of the system and its applicability to multiple cross-section types. The system will allow routine identification of aeroelastic parameters through wind tunnel tests that can be used to predict response of flexible structures in extreme and transient wind conditions.

충돌각 제어 호밍유도법칙의 역최적 문제 (Inverse Optimal Problem for Homing Guidance with Angular Constraint)

  • 이진익;이용인
    • 한국항공우주학회지
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    • 제35권5호
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    • pp.412-418
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    • 2007
  • 본 논문에서는 충돌각 구속조건을 갖는 비행체 호밍 제어 유도법칙에 대한 역최적 문제를 제시한다. 편향비례항법 유도법칙의 이득과 LQ 문제에서의 가중치와의 관계를 규명하고, Riccati 방정식으로부터 제어입력이 LQ 최적제어가 되기 위한 영역을 제시한다. 이를 근거로 종말 구속조건을 만족하는 호밍 유도법칙의 제어이득이 최적제어법칙이 되기 위한 범위를 제안한다. 이론적 해석 결과의 타당성은 3-DOF 모의시험을 통하여 확인한다.

Modeling, Identification and Control of a Redundant Planar 2-DOF Parallel Manipulator

  • Zhang, Yao-Xin;Cong, Shuang;Shang, Wei-Wei;Li, Ze-Xiang;Jiang, Shi-Long
    • International Journal of Control, Automation, and Systems
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    • 제5권5호
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    • pp.559-569
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    • 2007
  • In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.