• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.181-189
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• 2000

This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

• 한국공작기계학회논문집
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• 제16권3호
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• pp.23-30
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• 2007

Nano-stages are used in many ultra-precision systems, such as scanning probe microscope(SPM), optical fiber aligners, ultra-precision cutting, measuring systems, and optical systems. It is difficult to find the solutions because the performances and characteristics of nano-scale motion stage are determined by various factors. To understand effects of nano-scale motion stage, three types of hinge structures were designed and manufactured. Each hinge structures were designed following with the results of simulation. And from the result of experiments, hysteresis, displacement, and accuracy were compared with each hinge structures.

• 한국정밀공학회지
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• 제17권2호
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• pp.211-219
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• 2000

This paper simulated surface grinding process with statistically simulated grinding wheel topography, considering ridge formation phenomenon when grain scratch workpiece. Wheel grain is modeled as hybrid sphere and cone. Grinding wheel characteristic was evaluated with stylus by expanding the scanning region of the profilometer from a straight line to a plane. Each grain's diameter and semi-angle are assumed as normal distribution, each grain's protrusion height from wheel plane is assumed gamma distribution. So grinding wheel is simulated with grain's position randomly distributed without overlapping. Ground surface is 3-dimensionally simulated considering ridge formation of workpiece by each grain's cutting, and then surface profile and surface roughness parameters are compared with real ground workpiece.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.434-437
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• 2004

This paper presents the development of a new climbing mechanism for inter-block welding in Shipbuilding. The climbing mechanism is that it is career type of robot that can pass over block interval for welding of interblock in shipbuilding. The point part of mechanism is that move ballscrew. The Ballscrew`s capacity account and dynamic analysis of leg part are achieved through this paper. Force and torque analysis were achieved by simulation. This can have strong point in side of cost-cutting and welding amount of work than existent method.

• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.550-559
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• 2004

In this paper, a recursive formulation for generating the equations of motion of spatial mechanical systems is presented. The rigid bodies are replaced by a dynamically equivalent constrained system of particles which avoids introducing any rotational coordinates. For the open-chain system, the equations of motion are generated recursively along the serial chains using the concepts of linear and angular momenta Closed-chain systems are transformed to open-chain systems by cutting suitable kinematic joints and introducing cut-joint constraints. The formulation is used to carry out the dynamic analysis of multi-link five-point suspension. The results of the simulation demonstrate the generality and simplicity of the proposed dynamic formulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.961-964
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• 1995

For geometric accuracy in the net shape machining, the problem of tool deflection should be resolved in some fashion. In particular, this is crucial in finish cut operation where slim tools are used. The purpose of this paper is to verify the validity and effectiveness of the prediction model of the machined surface. Experimental results are presented for the cut of steel material with HSS endmill of diameter 6mm on machining center. The results shows that 1) the machining error due totool deflection is serious even in the low cutting load, 2) by using the mechanistic simulation model with experimental coefficients, the machining error was predicted with maximum prediction error of 10% which was significantly reduced to the desired level by the path modification method.

• 한국정밀공학회지
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• 제20권5호
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• pp.57-65
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• 2003

The formation of exit burr in drilling metals is analyzed by finite element method. The simplified burr formation model is suggested for the complex mechanism of burr formation in drilling on the basis of experimental data. Using the model the magnitude of burr is predicted and the effect of material properties of workpiece and cutting condition on burr formation is analyzed in the present study. The suggested model is verified by comparing simulation results and experimental ones. The predicted size and shape of burr are in good agreement with those observed by experiment.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• 제8권2호
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• pp.75-86
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• 2004

In this study, a recursive algorithm for generating the equations of motion of a chain of rigid rods is presented. The methods rests upon the idea of replacing the rigid body by a dynamically equivalent constrained system of particles. The concepts of linear and angular momentums are used to generate the rigid body equations of motion without either introducing any rotational coordinates or the corresponding transformation matrices. For open-chain, the equations of motion are generated recursively along the serial chains. For closed-chain, the system is transformed to open-chain by cutting suitable kinematic joints with the addition of cut-joints kinematic constraints. An example of a closed-chain of rigid rods is chosen to demonstrate the generality and simplicity of the proposed method.

• ETRI Journal
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• 제35권6호
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• pp.1148-1151
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• 2013

We propose a way to measure the absorber reflectivity at a low cost. Only one simple antenna with a small radiating aperture and a frequency-domain instrument are utilized. The previously used equation for calculating the reflectivity of an absorber is inaccurate, and, therefore, a new equation is derived based on multiple reflection analysis and three test models. Notably, the reflection coefficient of the antenna is included in the derived equation. The accuracy of the proposed method is proven through simulation and measurements. It can be easily applied to a product examination by absorber manufacturers and customers owing to its advantages of simplicity, cost effectiveness, and non-cutting examination.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.971-974
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• 2001

In this study, the static and dynamic characteristics of endmilling process was modelled and the analytic realization of chatter mechanism was discussed. In this regard, We have discussed on the comparative assessment of recursive time series modeling algorithms that can represent the machining process and detect the abnormal machining behaviors in precision endmilling operation. In this study, simulation and experimental work were performed to show the malfunctional behaviors. For this purpose, new recursive(RLSM) were adopted for the on-line system identification and monitoring of a machining process, we can apply these new algorithms in real process for detection of abnormal chatter. Also, the stability lobe of chatter was analysed by varying parameter of cutting dynamices in regenerative chatter mechanics.