• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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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.

• Architectural research
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• v.15 no.4
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• pp.207-214
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• 2013

A form-finding technique is proposed for three-dimensional spatial structures. Two-step discrete finite element (FE) mesh generator based on computer aided geometric design (CAGD) is introduced and used to control the shape of three-dimensional spatial structures. Mathematical programming technique is adopted to search new forms (or shapes) of spatial structures. For this purpose, the strain energy is introduced as the objective function to be minimized and the initial volume (or the initial weight) is considered as constraint function. Numerical examples are carried out to test the capability of the proposed form-finding techniques and provided as benchmark tests.

• Proceedings of the IEEK Conference
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• 2000.07a
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• pp.462-465
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• 2000

It is important to compress three dimensional (3D) data efficiently, since 3D data are too large to store or transmit in general. In this paper, we propose a lossless compression algorithm of the 3D mesh connectivity, based on the vertex degree. Most techniques for the 3D mesh compression treat the connectivity and the geometric separately, but our approach attempts to exploit the geometric information for compressing the connectivity information. We use the geometric angle constraint of the vertex fanout pattern to predict the vertex degree, so the proposed algorithm yields higher compression efficiency than the conventional algorithms.

• Proceedings of the KSR Conference
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• 2003.05a
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• pp.645-650
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• 2003

Wheel/Rail geometric constraint relationships, such as effective conicity and gravitational stiffness, strongly influence the lateral dynamics of railway vehicles. In general, these geometric contact characteristics are nonlinear functions of the wheelset lateral displacement. There is a need to develop a wheel/rail contact simulation program for wheels and rails with arbitrary profiles for the prediction of the dynamic behavior of railway vehicles. An algorithm to simulate any combination of wheels and rails is employed and a GUI for easy analysis is constructed. The simulation program is applied to KTX which will run on both KTX and conventional rails, two rail standards having different rail profiles. The results show that the two rail systems have different geometric contact characteristic

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.25 no.4
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• pp.196-220
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• 2021

This study formulates a new geometric parameterization scheme to effectively address numerical analysis subject to the variation of the fiber radius of a square unit cell. In particular, the proposed mesh-morphing approach may lead to a parameterized weak form whose bilinear and linear forms are affine in the geometric parameter of interest, i.e. the fiber radius. As a result, we may certify the reduced basis analysis of a square unit cell model for any parameters in a predetermined parameter domain with a rigorous a posteriori error bound. To demonstrate the utility of the proposed geometric parameterization, we consider a two-dimensional, steady-state heat conduction analysis dependent on two parameters: a fiber radius and a thermal conductivity. For rapid yet rigorous a posteriori error evaluation, we estimate a lower bound of a coercivity constant via the min-θ method as well as the successive constraint method. Compared to the corresponding finite element analysis, the constructed reduced basis analysis may yield nearly the same solution at a computational speed about 29 times faster on average. In conclusion, the proposed geometric parameterization scheme is conducive for accurate yet efficient reduced basis analysis.

• International Journal of Aeronautical and Space Sciences
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• v.14 no.1
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• pp.67-74
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• 2013

Nonlinear guidance law combined with a pseudo pursuit guidance is proposed, to perform stationary target observation mission. Multiple UAVs are considered, with waypoint constraint. The whole guidance is divided into two steps: firstly, waypoint approach, with specified incidence angle; and secondly, loitering around the stationary target. Geometric approach is used to consider the constraint on the waypoint, and a specified phase angle between the loitering UAV and the approaching UAV. In the waypoint approach step, UAVs fly to the waypoint using the pseudo pursuit guidance law. After passing the waypoint, UAVs turn around the target, using a distance error dynamics-based guidance law. Numerical simulations are performed, to verify the performance of the proposed guidance law.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2737-2742
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• 2003

Kinematic calibration enhances absolute accuracy by compensating for the fabrication tolerances and installation errors. Effectiveness of calibration procedures depends greatly on the measurements performed. While the Cartesian postures are measured completely, all of the geometric parameters can be identified to their true values. With partial pose measurements, however, few geometric parameters may not be identifiable and effectiveness of the calibration results may vary significantly within the workspace. QR decomposition of the identification Jacobian matrix can reveal the non-identifiable parameters. Selecting postures for measurement is also an important issue for efficient calibration procedure. Typically, the condition number of the identification Jacobian is minimized to find optimum postures. This paper investigates identifiable parameters and optimum postures for four different calibration procedures - measuring postures completely with inverse kinematic residuals, measuring postures completely with forward kinematics residuals, measuring only the three position components, and restraining the mobility of the end-effector using a constraint link. The study is performed for a six degree-of-freedom fully parallel HexaSlide type paralle manipulator, HSM. Results verify that all parameters are identifiable with complete posture measurements. For the case of position measurements, one and for the case of constraint link, three parameters were found non-identifiable. Optimal postures showed the same trend of orienting themselves on the boundaries of the search space.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.61-68
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• 1991

The system such as railway bridge can be modelled as the restrained beam with intermediate supports. This kind of structures are subject to the moving load, which has a great effect on dynamic stresses and can cause sever motions, especially at high velocities. Therefore, to analyze the dynamic characteristics of the system due to the moving load is very important. In this paper, the governing equation of motion of a restrained beam subjected to the moving load is derived by using the Hamilton's principle. The orthogonal polynomial functions, which are trial functions and satisfying the geometric and dynamic boundary conditions, are obtained through simple procedure. The dynamic response of the system subjected to the moving loads is obtained by using the Galerkin's method and the numerical time integration technique. The numerical tests for various constraint, velocity and boundary conditions were preformed. Furthermore, the effects of mass of the moving load are studied in detail.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1060-1067
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• 2005

This paper attempts to derive and analyze the dynamic system of pinching a rigid object by means of two multi-degrees-of-freedom robot fingers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper, the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• Transactions of Materials Processing
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• v.13 no.4
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• pp.342-349
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• 2004

The form-joining process (or clinching) uses a set of die and punch to impose the plastic deformation-induced geometric constraint on a sheet metal pair. The joining strength from the process ranges 50-70 percent of that of the resistance spot welding. In this paper, a new form-joining process with the aid of an adhesive is proposed in which an epoxy adhesive is applied to a sheet metal pair, and before it cures the pair is clinched to cause the geometric constraint in the form of a protrusion. In order to reduce the forming load and the height of protrusions, a new die and punch set with a very small clearance is devised to reduce the depth of drawing and the forming load. Taguchi method is employed to find the optimal values of design parameters. To implement each case of the orthogonal array, the finite element method is used. The experiments show that in the tensile-shear test, the bonding strength of the new form-joining process with an epoxy adhesive is approximately the same as that of the resistance spot welding; and in comparison with the other two form-joining processes with an epoxy adhesive, the height of protrusions is reduced by more than 65 percent and the forming load by 50 percent.