• 한국기계가공학회지
• /
• 제20권4호
• /
• pp.16-23
• /
• 2021

Currently, 6-axis articulated robots are used throughout the industry because of their 6-dof (degrees of freedom) and usability. However, 6-axis articulated robots have a fixed base and their movements are limited by the rotational operating range of each axis. If the angle of the 2-axis additional axes can be adjusted according to the position and orientation of the end-effector of the 6-axis articulated robot, the effectiveness of the 6-axis articulated robot can be further increased in areas where the angle is important, such as welding. Therefore, in this paper, we proposed a cooperative kinematic inter-operation strategy. The strategy will be verified using the Simulink of MATLABⓇ, an engineering program, and RecurdynⓇ, a dynamic simulation program.

• 해양환경안전학회지
• /
• 제29권5호
• /
• pp.445-455
• /
• 2023

IPCC에서 발표한 제6차 기후변화 보고서에 따르면 지구온난화에 따른 해수면 상승이 가속화되고 있으며, 2100년 예상 해수면 상승은 저탄소 시나리오(SSP 1~2.6)에서는 47cm, 고탄소 시나리오(SSP 5~8.5)에서는 82cm로 분석되었다. 해수면 상승은 항만 인프라에 심각한 피해를 입히고, 항만 내에 정박 중인 선박의 계류안전성을 저하시킬 수 있다. 본 연구에서는 해수면 상승시 부두에 계류한 선박의 계류안전성 향상 방안을 도출하기 위해 만조시 침수 피해가 잦은 목포항을 선정하여 해수면 상승 시나리오에 따른 실제 접안 선박에 대한 계류 평가 요소의 민감도를 분석하였다. 분석 결과, 해수면이 상승함에 따라 동일한 환경조건에서 계류라인 장력, 계선주 하중, 계류라인 수직각도, 선체 6자유도 운동값이 대체로 증가하는 것으로 분석되었다. 또한, 마루높이가 상향되면 모든 계류 평가 요소의 값이 대체로 감소하여 선박 및 부두의 안전성 향상에 유리한 것으로 분석되었다. 본 연구 결과는 목포항 해수면 상승에 따른 항만 및 선박의 안전성 향상 방안을 확보하기 위한 기초자료로 활용될 수 있을 것이다.

• Structural Engineering and Mechanics
• /
• 제14권6호
• /
• pp.699-712
• /
• 2002

In this paper, a new quadrilateral 5-node non-conforming membrane element with drilling degrees of freedom is presented. The main advantage of these elements is the relatively small number of integration points to evaluate a stiffness matrix comparing to the existing transition membrane elements (CLM elements). Moreover, the presented elements pass the patch test by virtue of the Direct Modification Method incorporated into the element formulation. The presented 5-node elements are proved to be very efficient when used in the local mesh refinement for the in-plane structures which have stress concentrations. And some numerical studies also show the good performance of the new element developed in this study.

• 항공우주시스템공학회지
• /
• 제1권2호
• /
• pp.6-12
• /
• 2007

Flight modes of automatic flight control system for light general aviation flight deck. Garmin G1000, were realized using Stateflow. In developing aircraft, it is difficult to verify the operational flight program in particular branch statement because developer can not see any visual logical steam. So, Stateflow has been used to visualize logical stream, transition from one flight mode to another flight mode. The performance was approved by applying flight mode transition conditions of G1000 to proposed transition system that is composed of states, switches, events, data and transition conditions. DURMI-II was used as 6-DOF simulation model.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2010년도 추계학술대회
• /
• pp.42-43
• /
• 2010

본 연구에서는 만타 형상 무인잠수정(Manta-type unmanned underwater test vehicle)의 제어 성능 평가를 하였다. PID제어, Fuzzy 제어가 적용되었으며, 6자유도 운동을 사용하여 Matlab Simulink로 시뮬레이션 프로그램을 구성하였다. 설계된 제어기로 수심 및 방위제어에 사용되었으며 조류의 외란 하에서의 제어 성능을 평가하였다.

• 제어로봇시스템학회논문지
• /
• 제8권12호
• /
• pp.1041-1047
• /
• 2002

It is known that parallel-type mechanisms have many singularities than serial-type mechanisms. In haptic application, these singularities deteriorate the system performance when the haptic system displays the reflecting force. Moreover, different from general manipulators, haptic systems can't avoid the singular point because they are operated by user's random motion command. Although many singularity-free algorithms for serial mechanisms have been proposed and studied. singularity-free algorithms for parallel haptic application have not been deeply discussed. In this paper, various singularity-free algorithms, which are appropriate to parallel haptic system, will be discussedand evaluated.

• 한국정밀공학회지
• /
• 제33권2호
• /
• pp.89-94
• /
• 2016

Equipments to influence by external force have to take effect mechanical oscillation. These equipments regardless of the movement on the external force such as roll, pitch and heave etc, worked to keep the height of tote are required for activeness and needed a device as equipment's fluctuation for rapidly compensation. Because the actual development of these devices is difficult to cost-effectively, we were developed to compensation simulator scaled down 1/50. In this paper, we were studying kinematic characteristics, designed the simulator to grasp the point and manufactured. This paper was analyzed for confirming the superiority of compensation simulator and set up 50 ton crane in practice.

• Journal of Electrical Engineering and Technology
• /
• 제10권6호
• /
• pp.2393-2405
• /
• 2015

This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.

• Earthquakes and Structures
• /
• 제6권4호
• /
• pp.393-408
• /
• 2014

In this paper, a direct identification of modal parameters using the continuous wavelet transform is proposed. The purpose of this method is to transform the differential equations of motion into a system of algebraic linear equations whose unknown coefficients are modal parameters. The efficiency of the present method is confirmed by numerical data, without and with noise contamination, simulated from a discrete forced system with four degrees-of-freedom (4DOF) proportionally damped.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.281-286
• /
• 1993

In this paper, a parallel link typed wrist is developed for robotic precision assembly. The developed wrist can make the corrective motion required for compensating lateral and tilting errors. The mechanism of this wrist is one example of a motion simulator generating 6 DOF motion in space by 6 actuators connected in paralle. To make the wrist more compact, miniature DC motors containing reduction gears and servo system were used. The parallel link architecture enables a high positioning accuracy and high nominal load capacity. In this study, inverse kinematic problem is solved by using a Denavet-Hartenberg method and a simulational result about workspace of the proposed parallel mechanism is obtained.