• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.11
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• pp.2922-2931
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• 1994

We propose a modified 6-node element, where the sampling point of Gauss quadrature moved in the thickness direction. The modified 6-node element has been applied to static problems and forced motion analyses. In this study, this method is extended to the finite element analysis of the natural frequencies of two dimensional problems. We also propose a modified 16-node element for three dimensional problems, which behaves much like a 20-node element with smaller degree of freedom. The modified 6-node and 16-node elements have been applied to the modal analyses of beams and plates, respectively. The results agree well with the results of the 8-node or 20-node element models.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.969-972
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• 1988

A conventional robotic manipulator is usually a very complicated system whose dynamics is too computationally time consuming for dynamic analysis and real time control. The authors have proposed the general design criteria of the robot links which greatly simplify the robot dynamic characteristics. In this paper these design guidelines are applied to a 6 degree of freedom PUMA 560 robot in order to realize actual implementation of the design concept. Based upon the design concept, the dynamic equations of the redesigned robot were derived. Dynamic characteristics of two systems, the ideally designed and conventional robot, are compared with respect to the joint input torque characteristics and degree of the coupling between the robot joints.

• Structural Engineering and Mechanics
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• v.19 no.3
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• pp.297-320
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• 2005

In recent years the pure displacement formulation for plate elements has not been as popular as other formulations. We revisit the pure displacement formulation for shear-deformable plate elements and propose a family of N-node, displacement-compatible, fully-integrated, pure-displacement, triangular, Mindlin plate elements, MIN-N. The development has been motivated by the relative simplicity of the pure displacement formulation and by the success of the existing 3-node plate element, MIN3. The formulation of MIN3 is generalized to obtain the MIN-N family, which possesses complete, fully compatible kinematic fields, in which the interpolation functions for transverse displacement are one degree higher than those for rotations. General element-level formulas for the thin-limit Kirchhoff constraints are developed. The 6-node, 18 degree-of-freedom element MIN6, with cubic displacement and quadratic rotations, is implemented and tested extensively. Numerical results show that MIN6 exhibits good performance for both static and dynamic analyses in the linear, elastic regime. The results illustrate that the fully-integrated MIN6 element has excellent performance in the thin limit, even for coarse meshes, and that it does not require shear relaxation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.6
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• pp.1421-1429
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• 1994

An algorithm is developed for solving the inverse kinematic problem of a 6-degree-of-freedom robot with a wrist offset for which the closed form inverse solutions are not obtainable, but knowledge of one joint variable allows closed form solutions of the remaining joint variables. The algorithm does not require Forward Kinematics nor Jacobian but uses the implicit kinematic relationships between joint variables and the given hand position. An iterative back substitution method is used to solve the inversion and the optimal conditions of the convergence are incoporated. An example is given to illustrate the concepts, the solution procedure and its convergency.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1772-1775
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• 2003

The stiffness of multi-articulated industrial robots is very weak, because their structure is an articulated type with some links and joints. Thus it is known that cutting processes for metals are not accepted in machine shop well, but they have a lot of merits for cutting processes, for example. drilling, tapping. and engraving etc., because of the characteristics of their high degree of freedom. The temptation of cutting aluminium was carried out to investigate the feasibility and the limitations or constrains for cutting metals on them. First the mode shapes of 6-axes FANUC welding robot were taken and analysed, and next the cutting processes were practically carried out on it. The results of study were found out to show the feasibility of cutting processes at end-milling under 6mm of tool diameter. as well as to have some limitations and constrains, for examples, surface roughness and feed rate, depth of cut, cutting force etc..

• Proceedings of KOSOMES biannual meeting
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• 2017.11a
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• pp.260-260
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• 2017

• The Journal of the Convergence on Culture Technology
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• v.8 no.6
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• pp.979-986
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• 2022

In this study, the virtual exhibition using 3D architectural space was analyzed in terms of the viewer's experience. For this purpose, the analysis items of the virtual architectural space include whether the actual architectural space is reproduced, the introduction of surreal elements, the degree of freedom of movement and circulation, the level of photorealism of spatial expression, the level of reproduction of the exhibits and information provision method, and the interaction with other participants. Six virtual exhibition projects designed by a well-known architect were selected and analyzed. Three directions were found through the analysis. First, even when designing a virtual exhibition space with a high degree of freedom, there is a tendency to present a familiar architectural environment. Second, the current method of creating a virtual architectural space is that the method using a 360-degree rendering image and the method using a game engine coexist with pros and cons. Third, the interaction between participants in the virtual exhibition is implemented only by using a game engine. It is expected that the virtual space production environment using the game engine to be developed will become more advantageous in the future.

• Journal of the Institute of Convergence Signal Processing
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• v.15 no.3
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• pp.104-111
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• 2014

In this paper, we deal with robotic automation for assembling car brake modules. A car brake module is comprises of a torque member, two brake pads, and two pad liners. In the assembly process, brake pads and pad liners are needed to be inserted in a torque member. If we use a typical robotic hand for the assembly, task time takes too long. So, we propose two methods. The first method is to use an end effector that has five grippers capable of gripping five assembly parts. In the first method we attached the implemented end effector to a conventional 6 degrees of freedom industrial manipulator and performed the bake module assembly task. Experimental results show that the task time is remarkably reduced. The brake module assembly task needs the robot to change its orientation frequently, so, in the second method, we added one degree of freedom to the end effector that is used in the first method. By attaching it to a conventional 6 degrees of freedom industrial manipulator, we composed a 7 degrees of freedom redundant manipulator. A redundant manipulator has the advantage of flexible manipulation so the robot can change its orientation easily and can perform assembly task very fast. Experimental results show that the second method dramatically reduce whole task time for brake module assembly.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.689-701
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• 2008

In this paper, a fully adaptive feedforward feedback synchronized tracking control approach is developed for precision tracking control of 6 degree of freedom (6DOF) Stewart Platform. The proposed controller is designed in decentralized form for implementation simplicity. Interconnections among different subsystems and gravity effect are eliminated by the feedforward control action. Feedback control action guarantees the stability of the system. The gains of the proposed controller can be updated on line without requiring any prior knowledge of Stewart Platform manipulator. Thus the control approach is claimed to be fully adaptive. By employing cross-coupling error technology, the proposed approach can guarantee both of position error and synchronization error converge to zero asymptotically. Because the actuators work in synchronous manner, the tracking performances are improved. The corresponding stability analysis is also presented in this paper. Finally, simulation is demonstrated to verify the effectiveness of the proposed approach.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1642-1647
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• 2004

In this article, we present the development of the automated system for adjusting the 6 D.O.F circular fixator. The system includes scheduling software to adjust the Hexapod Circular Fixator (HCF) and an automated strut system with the ability of the multiple synchronized motion. HCF was designed to control a 6 degree-of-freedom Ilizarove fixator and it's mechanism is known as the Stewart Platform. HCF scheduler evaluates each value of altered length of the HCF struts to correct the complex skeletal deformity by using the X-ray data of the patient. The data of HCF scheduler feed into the automated strut system which be able to provide the scheduled adjustment and the automated strut is synchronized by input data.