• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.271-272
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• 2012

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.396-399
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• 1995

This paper presents a new formulation of the kinematics of closed-chain mechanisms and its applications to obtaining the kinematic solutions and analyzing the singularities. Closed-chain mechanisms under consideration may have the redundancy in the number of joints. A closed-chain mechanism can be treated as the parallel connection of two open-chains with respect to a point of interest. The kinematics of a closed-chain mechanism is then obtained by imposing the kinematic constraints of the closed-chain on the kinematics of the two open-chains. First, we formulate the kinematics of a closed-chain mechanism using the kinematic constraint between the controllable active joints and the rest of joints, instead of the kinematic constraint between the two open-chains. The kinematic formulation presented in this paper is valid for closed-chain mechanisms with and without the redundancy. Next, based on the derived kinematics of a closed-chain mechanism, we provide the kinematic solutions which are more physically meaningful and less sensitive to numerical instability, and also suggest an effective way to analyze the singularities. Finally, the computational cost associated with the kinematic formulation is analyzed.

• International Journal of Precision Engineering and Manufacturing
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• 제2권1호
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• pp.76-80
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• 2001

A binary parallel robot manipulator uses actuators that have only two stable states being built by stacking variable geometry trusses on top of each other in a long serial chain. Discrete characteristics of the binary manipulator make it impossible to analyze an inverse kinematic problem in conventional ways. We therefore introduce new definitions of workspace and inverse kinematic solution, and the apply a genetic algorithm to the newly defied inverse kinematic problem. Numerical examples show that our genetic algorithm is very efficient to solve the inverse kinematic problem of binary robot manipulators.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.827-831
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• 2008

In this paper, kinematic analysis for a planar 3-DOF redundant stage which has four actuators is presented by using SimMechanics software package. SimMechanics is a block sets of the Matlab/Simulink package. The SimMechanics enables a simplified model for a complex kinematic mechanism, since kinematic relationship between joints and linkages for the kinematic chains are expressed as line vectors and block diagrams. Here, positional error and limit values of movement ranges of the stage are evaluated by using the SimMechanics. The validity of the kinematic characteristics model was compared with theoretical kinematic analyses for the 3-DOF stage.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.525-529
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• 2004

A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 로봇학회논문지
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• 제10권2호
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• pp.119-132
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• 2015

Two novel parallel mechanisms (PMs) employing two or three PaPaRR subchains are suggested. Each of those two PMs has translational 3-DOF motion and employs only revolute joints such that they could be adequate for haptic devices requiring minimal frictions. The position analyses of those two PMs are conducted. The mobility analysis, the kinematic modeling, and singularity analysis of each of two PMs are performed employing the screw theory. Then through optimal kinematic design, each of two PMs has excellent kinematic characteristics as well as useful workspace size adequate for haptic applications. In particular, by applying an additional redundantly actuated joint to the 2-PaPaRR type PM which has a closed-form position solution, it is shown that all of its parallel singularities within reachable workspace are completely removed and that its kinematic characteristics are improved.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1764-1769
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• 1991

Recently, dexterous mechanical hands have become of interest in the field of robotics. In this paper, a new symbolic C-Y notation is proposed for the kinematic modeling, and we solve the kinematics of a simplified model of POSTECH Hand 1, which is a 5 fingered, 20 degrees of freedom anthropomorphic hand. POSTECH Hand I is designed to have distinctive kinematic structure and the kinematic analysis of the hand is carried out using C-Y notation. To prove the feasibility of C-Y notation, D-H notation is also applied to the POSTECH Hand 1. In the inverse kinematic analysis, we neglect the fingertip geometry and assume the point contact with 3 degrees of freedom constraints. The configurations which optimize manipulability index[2] was obtained based on the simulation experiments on the SUN-4 graphic workstation using SUNPhigs graphic software.

• 대한기계학회논문집A
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• 제24권11호
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• pp.2672-2679
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• 2000

In synthesizing and RSSS-SC mechanism that is the kinematic model of the McPherson strut suspension system in automobiles, the design equations for R-S, S-S and S-C dyads should be solved separately for a given set of prescribed positions. The number of prescribed positions that the RSSS-SC mechanism can be synthesized is up to three because of the S-C dyad. This limitation may cause unsatisfactory results in synthesized joint positions. This paper presents a kinematic synthesis method to place the joints of an RSSS-SC mechanism in desired boundaries by varying the prescribed positions of the mechanism within acceptable tolerances. The sensitivity analysis of the joint positions is used determine which displacement parameter should be altered to fulfill this task.

• PNF and Movement
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• 제13권2호
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• pp.95-102
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• 2015

Purpose: The purpose of this study was to analyze the effect of arm flexion patterns of proprioceptive neuromuscular facilitation on muscle activation in the contralateral lower extremity. Open kinematic chain and closed kinematic chain positions were used. Methods: This study used an electromyogram (MP150, Biopac Systems, USA) to measure muscle activation in 20 healthy male students. Comparative analysis was completed on muscle activation of the vastus lateralis, biceps femoris, tibialis anterior, and gastrocnemius of the contralateral lower extremity. Open kinematic chain and closed kinematic chain positions were used with a unilateral arm flexion-abduction-external rotation pattern. Paired t-tests using the SPSS 12.0 for Windows analyzed the data produced by the electromyogram. Results: There was a statistically significant difference in muscle activation in the biceps femoris, gastrocnemius, and tibialis anterior when the open kinematic chain and closed kinematic chain positions were compared (p < 0.05). Conclusion: The biceps femoris, gastrocnemius, and tibialis anterior muscles showed greater muscle activation in the closed kinematic chain position when compared to the open kinematic chain position.

• Structural Engineering and Mechanics
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• 제54권4호
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• pp.793-807
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• 2015

Constructing the influence lines of forces of statically indeterminate structures is a traditional issue in structural engineering and mechanics. However, the existing kinematic method for establishing these force influence lines is an indirect or mixed approach by combining the force method with the theorem of reciprocal displacements, which is yet inconsistent with the kinematic method for statically determinate structure. This paper proposes the direct kinematic method in conjunction with the load-displacement differential relation for exactly constructing influence lines of reaction and internal forces of indeterminate structures. Firstly, through applying the principle of virtual displacement, the formula for influence lines of reaction and internal forces of indeterminate structure via direct kinematic method is derived based on the released structure. Then, a computational approach with a clear concept and unified procedure as well as wide applicability based on the load-displacement differential relation of beam is suggested to achieve conveniently the closed-form expression of force influence lines, and exactly draw them. Finally, three representative examples for constructing force influence lines of statically indeterminate beams and frame illustrate the superiority of the proposed method.