• 사물인터넷융복합논문지
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• 제4권2호
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• pp.7-11
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• 2018

본 논문에서는 기구학을 이용한 이족보행 로봇의 보행패턴 생성방법을 살펴본다. 2족 보행로봇이 3차원 공간상에서 모든 동작 및 보행이 가능하기 위해 필요한 자유도는 각 다리별로 6자유도이다. 따라서 본 논문에서는 로봇의 보행을 위해 간략화된 보행로봇의 구조를 살펴보고 발목의 경로를 설정한 후 기구학을 이용하여 조인트 각도를 파악하여 생성한다. 또한 로봇의 기구 해석을 위해 한쪽 다리의 조인트들에 대해 좌표계를 설정하였다. 조인트 각도를 역기구학을 이용하면 로봇의 보행 패턴을 생성할 수 있다. 최종적으로 발목의 궤적 설정과 이를 통한 보행 패턴 생성 과정을 살펴보기로 한다.

• 대한기계학회논문집A
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• 제20권4호
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• pp.1320-1332
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• 1996

In the present study, we consider modified 5-node equivalent solid element which has smallest degree of freedom among 2-dimensional solid elements accounting bending deformation as well as extensional and shear deformations, We shall investigate static and dynamic characteristics of this element, which is very effective in thin beam, thick beam, large displacement problems, beam of variable thickness, and asymmetrically stepped beam, etc., as well as relatively simple problems of beam. The degree of freedom of this element is 10, which is smaller than 18 of 9-node element, 16 of 8-node elemtns, 12 of modified 6-node element and Q6 element. Therefore, this element is expected to broaden the effective range of application of the solid elements in the bending problems further.

• 한국해양공학회지
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• 제26권6호
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• pp.59-65
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• 2012

In this research, a novel mater arm was studied as a teaching device for an underwater revolute robot arm used as a slave arm. The master arm was designed to be a seven-degree-of-freedom (DOF) structure, with a structure similar to that of the slave arm, and to be desktop size to allow it to be worn on a human arm. The master arm with encoders on the joints was used as an input device for teaching a slave robot arm. In addition, small electric magnets were installed at the joints of the master arm to generate the haptic force. A control system was designed to sense excessive force and torque in the joints of the master arm and protect it by controlling the position and velocity of the slave arm through the encoder signal of the master arm.

• 항공우주기술
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• 제10권1호
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• pp.98-106
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• 2011

본 논문에서는 롤 자세운동이 발생하는 상황에서 안정적인 피치/요 자세제어를 위한 항법쿼터니언 기반 자세제어기 구조를 설계하고, 발사체 6자유도 시뮬레이션을 통해 설계된 제어기의 성능평가를 수행하였다. 항법쿼터니언 자세제어기는 기존 KSR-III, KSLV-I 상단부 자세제어기 설계 경험을 기반으로 고안되었고, 탑재소프트웨어 내에서 효율적인 자세제어 변수 사용 및 KSR-III, KSLV-I 상단부 제어기와 동일한 성능 확보 관점에서 설계되었다. 제안된 새로운 자세제어기 타당성 분석을 위하여 방위각 전환을 위한 롤 기동, 롤 자세제어가 수행되지 않는 두 비행조건에 대해 6자유도 시뮬레이션을 수행, 자세제어 성능을 평가하고 탑재 소프트웨어로서 적용 가능성을 확인하였다.

• 한국의류산업학회지
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• 제23권6호
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• pp.781-789
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• 2021

To enhance the design and comfort of waist-protection corsets, this study analyzed the product characteristics of five types of posture-correction corsets that are available commercially. Additionally, subjective evaluation of the corsets was conducted on women aged 20 to 60 years, in terms of design, material preference, fit, comfort, degree of correction, freedom of movement, tightness, and convenience of front fastening. Following product analysis, the five corset types were divided into: two soft, one semi-hard, and two hard types in terms of the degree of elongation. As a result of pattern analysis, the soft type was designed to improve fit by reflecting the body curvature, whereas the semi-hard and hard types were relatively flat. Through the wearing sensation assessment, the hard type manufactured by company S was the best in terms of design, material, fit, comfort, correction degree, and freedom of movement. The soft type was average in design, material, and fit while relatively poor in the correction degree and tightness. The results indicated that soft materials, flexible bones with appropriate tension, patterns designed to snugly fit the body with large curvature at the top and bottom for better inflection, and adjustable support belts that can be double-fixed are crucial elements in improving the corset design to boost the comfort of wearing. These study results are helpful in the development of waist-protection corsets with excellent wearing comfort and design appreciated by customers.

• 방송공학회논문지
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• 제24권2호
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• pp.273-280
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• 2019

360 비디오는 VR 응용의 확산과 함께 몰입형 미디어로 주목받고 있으며, MPEG-I Visual 그룹은 6 자유도(6DoF)까지의 몰입형 미디어를 제공하기 위한 표준화를 진행하고 있다. 제한된 공간내에서 전방위 6DoF를 제공하는 Omnidirectional 6DoF는 제공되는 제한된 수의 360 비디오로부터 임의의 위치에서의 뷰(view)를 제공하기 위한 가상시점 합성이 필요하다. 본 논문에서는 MPEG-I Visual 그룹에서 진행된 전방위 6DoF를 위한 합성에 대한 탐색실험의 성능 및 분석 결과를 기술한다. 즉, 합성하려는 가상시점과 합성을 위한 360 비디오의 입력시점 사이의 거리 및 입력시점의 개수 등의 다양한 실험조건에 따른 합성 성능 결과 및 분석을 제시한다.

• 한국CDE학회논문집
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• 제15권1호
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• pp.70-83
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• 2010

Recently, floating cranes are mainly used to erect heavy blocks or cargos for constructing ships in many shipyards. It is important to estimate the dynamic motion of the heavy cargo suspended by a floating crane and the tension of the wire ropes between the floating crane and the heavy cargo. In this paper, the coupled dynamic equations of motion are set up for considering the 6 degree-of-freedom floating crane and the 6-degrees-of-freedom heavy cargo based on multibody system dynamics. Depending on the cargo weight, the motion of the floating crane would be changed to nonlinear state. The nonlinear terms in the equation of motion are considered. In addition, the nonlinear hydrostatic force, the linear hydrodynamic force, wire rope force, mooring force and gravity force are considered as the external forces. As the result of this paper, we analyze the engineering effect for erecting the heavy cargo by using the floating crane.

• Structural Engineering and Mechanics
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• 제21권6호
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• pp.713-735
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• 2005

Due to the complexity of mathematical expressions, the literature concerning the free vibration analysis of plates carrying multiple three-degree-of-freedom (dof) spring-mass systems is rare. In this paper, the three degrees of freedom (dof's) for a spring-mass system refer to the translational motion of its lumped mass in the vertical ($\bar{z}$) direction and the two pitching motions of its lumped mass about the two horizontal ($\bar{x}$ and $\bar{y}$) axes. The basic concept of this paper is to replace each three-dof spring-mass system by a set of equivalent springs, so that the free vibration characteristics of a rectangular plate carrying any number of three-dof spring-mass systems can be obtained from those of the same plate supported by the same number of sets of equivalent springs. Since the three dof's of the lumped mass for each three-dof spring-mass system are eliminated to yield a set of equivalent springs, the total dof of the entire vibrating system is not affected by the total number of the spring-mass systems attached to the rectangular plate. However, this is not true in the conventional finite element method (FEM), where the total dof of the entire vibrating system increases three if one more three-dof spring-mass system is attached to the rectangular plate. Hence, the computer storage memory required by using the presented equivalent spring method (ESM) is less than that required by the conventional FEM, and the more the total number of the three-dof spring-mass systems attached to the plate, the more the advantage of the ESM. In addition, since manufacturing a spring with the specified stiffness is much easier than making a three-dof spring-mass system with the specified spring constants and mass magnitude, the presented theory of replacing a three-dof spring-mass system by a set of equivalent springs will be also significant from this viewpoint.

• 대한기계학회논문집
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• 제19권6호
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• pp.1439-1450
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• 1995

Bellows is a familiar component in piping systems as it provides a relatively simple means of absorbing thermal expansion and providing system flexibility. In routine piping flexibility analysis by finite element methods, bellows is usually considered to be straight pipe runs modified by an appropriate flexibility factor; maximum stresses are evaluated using a corresponding stress concentration factor. The aim of this study is to develop a bellows finite element, which similarly includes more complex shell type deformation patterns. This element also does not require flexibility or stress factors, but evaluates more detailed deformation and stress patterns. The proposed bellows element is a 3-D, 2-noded line element, with three degrees of freedom per node and no bending. It is formulated by including additional 'internal' degrees of freedom to account for the deformation of the bellows corrugation; specifically a quarter toroidal section of the bellows, loaded by axial force, is considered and the shell type deformation of this is include by way of an approximating trigonometric series. The stiffness of each half bellows section may be found by minimising the potential energy of the section for a chosen deformation shape function. An experiment on the flexibility is performed to verify the reliability for bellows finite element.

• 한국지능시스템학회논문지
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• 제22권3호
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• pp.267-272
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• 2012

본 논문에서는 6 방향 자유도를 지닌 능동 자기베어링 시스템의 강인 디지털 퍼지 제어에 대한 내용을 다루고자 한다. 6방향 자유도에 대한 기본 모델은 회전자 구조와 원뿔형의 능동 자기베어링 시스템의 자기력 간의 상관관계에 의해 결정된다. 구성된 모델은 비선형 동적방정식으로 구성되기 때문에, 제어 목적을 달성하기 위한 제어 입력 신호의 설계가 어려우며, 외부 환경의 영향에 따른 시스템 파라미터 변화율에도 많이 민감한 편이다. 이를 보완하기 위하여, 획득한 동적방정식을 기반으로 TS 퍼지 모델에 기반 한 디지털 제어 목적에 적합한 구조로의 변환이 이루어진다. 여기서 말하는 제어 목적이란, 회전자의 회전을 외부의 물리적 접촉 없이 자기장의 힘만으로 동작하도록 베어링의 위치를 최대한 센터에 위치케 하는 것을 말한다. 본 논문에서는 6자유도를 지닌 능동 자기베어링 시스템의 비선형성에 대한 해석 방안으로 퍼지 모델링을 통해 시스템을 재해석하게 되며, 외부 파라미터 변화에 따른 대응을 위하여 강인 제어기 설계를 목적으로 한다. 제안된 강인 제어 알고리즘은 시뮬레이션 과정을 통해 검증된다.