• Journal of the Korean Society of Industry Convergence
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• v.24 no.6_2
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• pp.953-959
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• 2021

In this paper, the numerical inverse kinematics analysis is presented for a collaborative robot with an offset wrist. Robot manipulators with offset wrist are widely used in industrial applications, due to many advantages over those with wrist center and those with three parallel axes such as simple mechanical design, light weight, and so on. There may not exist a closed-form solution for a robot manipulator with offset wrist. A simple numerical method is applied to solve the inverse kinematics with offset wrist. Singularity is analyzed using Jacobian matrix and the numerical inverse kinematics algorithm is implemented on the real-time controller.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.5
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• pp.935-944
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• 2023

In this study, the Inverse-type (: Inverse-Exponential, Inverse-Rayleigh) life distribution, which is known to be suitable for reliability research, was applied to a software development cost model based on finite failure NHPP(: Nonhomogeneous Poisson Process), and then the attributes that determine the model's performance were analyzed. Additionally, to evaluate the efficiency of the model, it was compared with the Goel-Okumoto basic model. The performance of the model was analyzed using failure time data, and MLE (: Maximum Likelihood Estimation) was applied to calculate the parameters. In conclusion, first, as a result of analyzing m(t), which determines the development cost, the Inverse-Exponential model was efficient due to its small error in the true value. Second, as a result of analyzing the release time along with the development cost, the Inverse-Rayleigh model was confirmed to be the best. Third, as a result of comprehensive evaluation of the attributes (m(t), cost, and release time) of the proposed model, the Inverse-Rayleigh model had the best performance. Therefore, if software developers can effectively utilize this research data in the early process, they will be able to proactively explore and analyze attributes that affect cost.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.30 no.3 s.246
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• pp.270-277
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• 2006

Inverse radiation problems were solved for estimating boundary temperature distribution in a way of function estimation approach in an axisymmetric absorbing, emitting and scattering medium, given the measured radiative data. In order to reduce the computational time fur the calculation of sensitivity matrix, automatic differentiation and Broyden combined method were adopted, and their computational precision and efficiency were compared with the result obtained by finite difference approximation.. In inverse analysis, the effects of the precision of sensitivity matrix, the number of measurement points and measurement error on the estimation accuracy had been inspected using quasi-Newton method as an inverse method. Inverse solutions were validated with the result acquired by additional inverse methods of conjugate-gradient method or Levenberg-Marquardt method.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.4
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• pp.206-215
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• 2016

Delta parallel robots are now widely used for high-speed applications. However, typical Delta robots, such as ABB Flexpicker suffer from rotating axis with passive prismatic joint subjected to critical speed and so requiring careful maintenance. In this paper, a novel 4-DOF high-speed parallel robot with four legs is presented, which consists of three legs with 90 degree arrangement for translational motions and one remaining leg with rack & pinion gears for rotational motion. The inverse kinematics, velocity, acceleration, statics, and inverse dynamics have been analyzed. From the workspace analysis and inverse dynamics simulation for 0.43 sec cycle time, the 4-axis parallel robot prototype with 12kg payload has been designed. In the future research, computed torque control methods will be developed for the prototype.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.28 no.6
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• pp.705-712
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• 2004

An inverse boundary analysis of surface radiation in an axisymmetric cylindrical enclosure has been conducted in this study. Net energy exchange method was used to calculate the radiative heat flux on each surface, and a hybrid genetic algorithm was adopted to minimize an objective function, which is expressed by sum of square errors between estimated and measured or desired heat fluxes on the design surface. We have examined the effects of the measurement error as well as the number of measurement points on the estimation accuracy. Furthermore, the effect of a variation in one boundary condition on the other boundary conditions was also investigated to get the same desired heat flux and temperature distribution on the design surface.

• Journal of Biomedical Engineering Research
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• v.25 no.4
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• pp.301-307
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• 2004

An inverse dynamic model of lower limbs is presented to calculate joint moments during gait. The model is composed of 4 segments with 3 translational joints and 12 revolute joints. The inverse dynamic method is based on Newton-Euler formalism. Kinematic data are obtained from 3 dimensional trajectories of markers collected by a motion analysis system. External forces applied on the foot are measured synchronously using force plate. The use of developed model makes it possible to calculate joint moments for variation of parameters.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.2
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• pp.202-208
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• 2008

A 6 DOF Multi axis simulation table (MAST) is used to perform vibration and fatigue tests for parts or assemblies of automobiles, aircraft, or other systems. It consists of a table and 6 linear actuators. For its attitude control, we have to adjust the lengths of 6 actuators properly. The system is essentially a parallel mechanism. Three actuators are connected to the table directly and other three actuators are connected indirectly. Because of these, the MAST shows also a serial mechanism#s property: the inverse kinematics is more complicated than a pure parallel mechanism and each actuator can operate independently. The authors have performed a kinematics analysis of the 6 DOF MAST. We have presented an analytical and a numerical solution for the inverse and forward kinematics, and we have verified the solutions by a 3D CAD software.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.175-180
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• 2003

An inverse problem to determine two-dimensional total heat exchange factor is studied for the prediction of the billet temperature in the reheating furnace. Temperature measurements by the experiment are used in the inverse analysis. This inverse analysis employs the conjugate gradient method. The total heat exchange factors for 12-zones of the cross-section of the billet are estimated. The estimated temperatures at measurement locations are in good agreements with the measured temperatures.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.11 s.242
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• pp.1257-1264
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• 2005

An inverse problem to determine two-dimensional total heat exchange factor is studied for the prediction of the slab temperature in the reheating furnace. Temperature measurements by the experiment are used in the inverse analysis. This inverse analysis employs the conjugate gradient method. The overall heat absorptances for 12-zones of the cross-section of the slab are estimated. The estimated temperatures at measurement locations are in good agreements with the measured temperatures.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1997.10a
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• pp.89-92
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• 1997

Design of a weld line in a tailor welded blank is indispensable for good manufacturing of stamped parts as assigned, since the intial weld line is distorted severely with forming. The initial weld line has to be determined such that desired weld line in a formed part can be obtained. The initial weld line was predicted by inverse finite element analysis from the desired weld line in a formed part. The inverse approach is applied to the cylindrical and square cup drawing with tailor welded blanks. The applications demonstrates that the approach is useful for design of weld line of tailor welded blank.