• 한국항공우주학회지
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• 제44권10호
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• pp.895-903
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• 2016

우주용 영상센서의 비균일 출력특성 교정을 통한 영상품질향상을 목적으로 탑재교정장치가 요구된다. 탑재교정장치는 균일한 온도정보 제공을 위한 흑체를 비롯하여, 흑체로의 지향성 확보를 위하여 전개/수납 기능이 포함되는 교정 메커니즘으로 구성된다. 이 중, 교정 메커니즘은 궤도상에서 구동장치의 결함 발생 시 주광경로 확보를 위한 결함안전 기능이 요구된다. 추가적으로, 구동부에 대한 발사환경에서의 구조건전성 확보가 필수적이다. 본 논문에서는 단일장치로 발사환경 구속 및 결함안전 기능 구현이 가능한 전개수납형 교정 메커니즘을 제안하였다. 상기 제안한 메커니즘의 기능모델을 통한 동작 기능시험을 수행하여 설계의 유효성을 입증하였다.

• 한국기계가공학회지
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• 제11권3호
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• pp.48-54
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• 2012

This paper introduces the kinematic calibration method to improve the positioning accuracy of a parallel mechanism. Since all the actuators in the parallel mechanism are controlled simultaneously toward the target position, the volumetric errors originated from each motion element are too complicated. Therefore, the exact evaluation of the error sources of each motion element and its calibration is very important in terms of volumetric errors. In the calibration processes, the measurement of the errors between commands and trajectories is necessary in advance. To do this, a digitizer was used for the data acquisition in 3 dimensional space rather than arbitrary planar error data. After that, the optimization process that was used for reducing the motion errors were followed. Consequently, Levenberg-Marquart algorithm as well as the error data acquisition method turned out effective for the purpose of the calibration of the parallel mechanism.

• 한국항공우주학회지
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• 제39권7호
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• pp.682-687
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• 2011

일반적으로 탑재 교정을 위한 교정 반사경 구동장치는 교정임무 수행 시에는 주광경로 상의 전개위치로 반사경을 구동하며, 교정 후에는 주광경로와 이격된 수납위치로 반사경을 구동한다. 교정 반사경 구동장치의 결함 발생 시에는 반사경이 전개된 상태로 남아 주광경로를 차단하지 않도록 반사경을 강제 수납한다. 본 논문에서 제안한 결함 안전장치를 가지는 교정용 반사경 구동장치는 구동을 위한 스텝모터, 전개 및 수납 상태확인을 위한 마이크로 스위치, 베어링과 스프링의 기능을 동시에 갖는 피봇베어링 등으로 구성된다. 본 논문에서는 상기의 기능을 갖는 교정 반사경 구동장치 구현을 위한 구동장치 구성을 제안하였으며, 구성요소의 최적화 설계치를 도출하고 기능시험을 통해 결함안전 기능을 갖는 교정 반사경 구동장치의 유효성을 검증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.355-360
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• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

• Journal of Mechanical Science and Technology
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• 제17권1호
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• pp.23-31
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• 2003

This paper introduces a constraint operator for the kinematic calibration of a parallel mechanism. By adopting the concept of a constraint operator, the movement between two poses is constrained. When the constrained movements are satisfied, the active joint displacements are taken and inputted into the kinematic model to compute the theoretical movements. A cost function is derived by the errors between the theoretical movement and the actual movement. The parameters that minimize the cost function are estimated and substituted into the kinematic model for a kinematic calibration. A single constraint plane is employed as a mechanical fixture to constrain the movement, and three digital indicators are used as the sensing devices to determine whether the constrained movement is satisfied. This calibration system represents an effective, low cost and feasible technique for a parallel mechanism. A calibration algorithm is developed with a constraint operator and implemented on a parallel manipulator constructed for a machining center tool.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.969-972
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• 2004

This paper describes the mechanism of parallel micro machine platform and its feedback control system for acquiring high accuracy. The parallel micro machine platform that has developed has 5x5x5 work-space and sub-micron accuracy. For the high accuracy, the feedback control system is important but errors in machining and assembling are inevitable. Kinematic calibration is important for this reason. In this paper, various error components are introduced and the effects of error component are analyzed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.197-203
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• 2005

This paper presents kinematic calibration of parallel manipulators with partial pose measurements using a device that measures a rotation of the end-effector along with its position. The device contains an LVDT, a biaxial inclinometer, and a rotary sensor and facilitates automation of the measurement procedure. The device is designed in a modular fashion and links of different lengths can be used. The additional kinematic parameters required for the measurement device are discussed, kinematic relations are derived, and cost function is established to perform calibration with the proposed device. The study is performed for a six degree-of-freedom(DOF) fully parallel HexaSlide Mechanism(HSM). Experimental results show significant improvement in the accuracy of the HSM.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.535-540
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• 2000

This paper presents the development of a Parallel-Typed CNC Machining Tool. It is specially designed to machine a complex shaped workpiece by controlling the orientation of the tool. The inverse/direct kinematics of a parallel mechanism is derived and implemented in a PC based controller. With graphics icons, the GUI (Graphic User Interface) program is developed for the CNC programing. The calibration is accomplished by geometric constraint motion, which is a parallel motion of the platform with respect to a table. The calibration result is introduced and the future study is proposed.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(5)
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• pp.195-198
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• 2001

We developed the portable blood analysis system, which can be measured pH of the blood. This system is composed to electronic circuit, mechanism, and system software. Electronic circuit is composed to the sensor, pre-amp part, temperature regulation part, fluid sensing part, A/D(analog to digital) conversion part, main and peripheral device processing part. And the mechanism is composed to the flow cell and the liquid flow part. The liquid flow part is consisted of blood and washing control system under the control of the 6-channel solenoid valve and syringe rump. The system software is composed to measurement program, calibration program, washing and diagnostic program. The program of each routine is designed as sequential process for an efficiency. And the portable pH analysis system used two-point calibration method using the two types of corrective liquid. As a result, we obtained the calibration curve and calculated the value of pH. For verifying the system, we confirmed the output voltage of the sensor, and estimated reappearance of system using the standard liquid.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1512-1517
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• 2003

This paper presents the calibration for the parallel typed tilting table. The calibration system needs only simple sensing device which is a digital indicator to measure the orientation of a table. The calibration algorithm is developed by a measurement operator. It eliminates the concern about the poor parameter observability due to a large number of parameters of parallel-mechanism. This paper uses the QR-decomposition to find the optimal calibration configurations maximizing the linear independence of rows of a observation matrix. The number of identifiable parameters is examined by the rank of the observation matrix, which represents the parameter observability. The method is applied to a Parallel-typed Tilting Table and all the necessary kinematic parameters are identifiable.