• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.7
• /
• pp.559-567
• /
• 2000

This paper proposes simple and practical methods in order to overcome complex formulation and heavy computational burden of the forward kinematics of 6 앨 3-6 type parallel manipulators. Three ap-proaches for the forward kinematics are presented : one extra sensor a modified structure and novel numerical method. The proposed methods are applied to the forward kinematics of a new 6 앨 parallel manipulator with special geometry that has three internal links three external links and a moving platform of a cone shape. The proposed methods use three tetrahedrons for finding the position and orientation vector of the moving platform. The main advantages of the appraches using tetrahedrons are to abbreviate the formulation to easily find so-lutions of the forward kinematics and to be able to practically control of the manipulator in real time.

• Journal of the Korean Society for Precision Engineering
• /
• v.34 no.2
• /
• pp.107-114
• /
• 2017

In this investigation, we describe a metrological technique for surface and thickness profiles of a silicon (Si) wafer by using a 6 degree of freedom (DOF) stitching method. Low coherence scanning interferometry employing near infrared light, partially transparent to a Si wafer, is adopted to simultaneously measure the surface and thickness profiles of the wafer. For the large field of view, a stitching method of the sub-aperture measurement is added to the measurement system; also, 6 DOF parameters, including the lateral positioning errors and the rotational error, are considered. In the experiment, surface profiles of a double-sided polished wafer with a 100 mm diameter were measured with the sub-aperture of an 18 mm diameter at $10\times10$ locations and the surface profiles of both sides were stitched with the sub-aperture maps. As a result, the nominal thickness of the wafer was $483.2{\mu}m$ and the calculated PV values of both surfaces were $16.57{\mu}m$ and $17.12{\mu}m$, respectively.

• Journal of Mechanical Science and Technology
• /
• v.16 no.8
• /
• pp.1053-1063
• /
• 2002

This paper presents a robust nonlinear controller for a f degree of freedom (DOF) parallel manipulator in the task space coordinates. The proposed control strategy requires information on orientations and translations in the task space unlike the joint space or link space control scheme. Although a 6 DOF sensor may provide such information in a straightforward manner, its cost calls for a more economical alternative. A novel indirect method based on the readily available length information engages as a potential candidate to replace a 6 DOF sensor. The indirect approach generates the necessary information by solving the forward kinematics and subsequently applying alpha-beta-gamma tracker With the 6 DOF signals available, a robust nonlinear task space control (RNTC) scheme is proposed based on the Lyapunov redesign method, whose stability is rigorously proved. The performance of the proposed RNTC with the new estimation scheme is evaluated via experiments. First, the results of the estimator are compared with the rate-gyro signals, which indicates excellent agreement. Then, the RNTC with on-line estimated 6 DOF data is shown to achieve excellent control performance to sinusoidal inputs, which is superior to those of a commonly used proportional-plus-integral-plus-derivative controller with a feedforward friction compensation under joint space coordinates and the nonlinear controller under task space coordinates.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.37 no.12
• /
• pp.1252-1257
• /
• 2009

Off-line 6-DOF simulation program for store separation analysis has been developed. The developed program enables to predict a trajectory of a store from the database which was constructed by wind tunnel testing or CFD analysis. The flow angle method was applied to the program for predicting aerodynamic coefficients from the database and the ejector forces and constraints were enabled to incorporate the equations of motion for computing the trajectory. Using the program, the trajectories were calculated and the results are compared with the CTS results.

• Journal of Ocean Engineering and Technology
• /
• v.36 no.1
• /
• pp.50-60
• /
• 2022

The deep ocean engineering basin (DOEB) of the Korea Research Institute of Ship and Ocean Engineering (KRISO) is equipped with an extreme-environment reproduction facility that can analyze the motion characteristics of offshore structures and ships. In recent years, there have been requirements for a wide range of six-degree-of-freedom (6-DOF) motion measurements for performing maneuvering tests and free-running tests of target objects (offshore structures or ships). This study introduces the process of developing a wide-area motion measurement technology by incorporating the auto-tracking technology of the towing carriage system to overcome the existing 6-DOF motion measurement limitation. To realize a wide range of motion measurements, the automatic tracking control system of the towing carriage in the DOEB was designed as a speed control method. To verify the control performance, the characteristics of the towing carriage according to the variation in control gain were analyzed. Finally, a wide range of motions was tested using a model test object (a remotely operated vehicle (ROV)), and the wide-area motion measurement technology was implemented using an automatic tracking control system for a towing carriage.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2007.10a
• /
• pp.325-327
• /
• 2007

We report a simple area measurement device for 3 dimensional object using 3 degree of freedom sensor. The surface of 3D object can be divided into a number of triangles, and the surface area of 3D object could be measured by the sum of the divided triangle area. We applied 6DOF sensor to measure the coordinate of triangle vertex, and calculated each triangle area on the surface of 3D object. The many we divide the area to triangles, the correct we will get the result. This method shows 7.78% in error on the measurement of 3 dimensional object area.

• Journal of the Korean Chemical Society
• /
• v.22 no.6
• /
• pp.380-385
• /
• 1978

Adsorption isotherms of o-xylene on Spheron 6, a graphitized carbon black, are obtained at various temperatures using a quartz beam microbalance. BET plots are made to estimate the molecular area of o-xylene from these isotherms. On Spheron 6, the molecular area of o-xylene (m.p $-25^{\circ}C$) remains constant until the temperature is increased up to $-15^{\circ}C$, but increases abruptly between $-15^{\circ}C$ and $-14^{\circ}C$, and then again remains constant thereafter. These results are interpreted as implying that the adsorbed o-xylene molecules are flatly localized on Spheron 6 with compact packing below $-15^{\circ}C$ while they gain a rotational degree of freedom around the benzene ring at the higher temperature.

• Structural Engineering and Mechanics
• /
• v.37 no.6
• /
• pp.671-684
• /
• 2011

Deciding on an optimal sensor placement (OSP) is a common problem encountered in many engineering applications and is also a critical issue in the construction and implementation of an effective structural health monitoring (SHM) system. The present study focuses with techniques for selecting optimal sensor locations in a sensor network designed to monitor the health condition of Dalian World Trade Building which is the tallest in the northeast of China. Since the number of degree-of-freedom (DOF) of the building structure is too large, multi-modes should be selected to describe the dynamic behavior of a structural system with sufficient accuracy to allow its health state to be determined effectively. However, it's difficult to accurately distinguish the translational and rotational modes for the flexible structures with closely spaced modes by the modal participation mass ratios. In this paper, a new method of the OSP that computing the mode shape matrix in the weak axis of structure by the simplified multi-DOF system was presented based on the equivalent rigidity parameter identification method. The initial sensor assignment was obtained by the QR-factorization of the structural mode shape matrix. Taking the maximum off-diagonal element of the modal assurance criterion (MAC) matrix as a target function, one more sensor was added each time until the maximum off-diagonal element of the MAC reaches the threshold. Considering the economic factors, the final plan of sensor placement was determined. The numerical example demonstrated the feasibility and effectiveness of the proposed scheme.

• Coupled systems mechanics
• /
• v.7 no.6
• /
• pp.649-668
• /
• 2018

In this paper, we present a numerical model for fluid-structure interaction between structure built of porous media and acoustic fluid, which provides both pore pressure inside porous media and hydrodynamic pressures and hydrodynamic forces exerted on the upstream face of the structure in an unified manner and simplifies fluid-structure interaction problems. The first original feature of the proposed model concerns the structure built of saturated porous medium whose response is obtained with coupled discrete beam lattice model, which is based on Voronoi cell representation with cohesive links as linear elastic Timoshenko beam finite elements. The motion of the pore fluid is governed by Darcy's law, and the coupling between the solid phase and the pore fluid is introduced in the model through Biot's porous media theory. The pore pressure field is discretized with CST (Constant Strain Triangle) finite elements, which coincide with Delaunay triangles. By exploiting Hammer quadrature rule for numerical integration on CST elements, and duality property between Voronoi diagram and Delaunay triangulation, the numerical implementation of the coupling results with an additional pore pressure degree of freedom placed at each node of a Timoshenko beam finite element. The second original point of the model concerns the motion of the outside fluid which is modeled with mixed displacement/pressure based formulation. The chosen finite element representations of the structure response and the outside fluid motion ensures for the structure and fluid finite elements to be connected directly at the common nodes at the fluid-structure interface, because they share both the displacement and the pressure degrees of freedom. Numerical simulations presented in this paper show an excellent agreement between the numerically obtained results and the analytical solutions.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.6 no.3
• /
• pp.96-102
• /
• 1997

Eigenvalue analysis of vibration mode and an analysis by frequency response among the methods of predicting gear noise are related with transmitting sound of vibration. In this study we intended to reduce the vibration noise of differential gear by reducing torque fluctuation of drive pinion shaft which causes vibration noise of differential gear in rear wheel drive vehicles. For this we developed multi-degree of freedom analysis model in which mass moment of inertia and torsional spring combined and we examined the influence of torsional vibration of driveline elements by performing forced vibration analysis of engine excitation torque. We studied the methods for reducing torsional vibration of driveline according to the design factor of propeller shaft and examined the effects reducing vibration in differential gear by applying flexible coupling.