• 한국정밀공학회지
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• 제29권1호
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• pp.64-71
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• 2012

In this paper, a parallel manipulator is comprised of two sliders and four links. Sliders execute a linear reciprocating motion depending on parallel guides and make the connected links rotate. A couple of links connected by sliders do coupling motion. The end-effector called a link tip has orientation angle. Through the kinematics analysis of this manipulator, we found displacement, velocity and acceleration using direct and inverse kinematics. We used equations that derived from this analysis and determined five constraint conditions. These conditions had much to do with rotation states of links, the relative relation of link length and coupling motion state. To verify those, we suggest a new algorithm regarding constraint conditions of a manipulator. With the result which performed the algorithm, we found out that operation range of coupled links was limited by relative relation of link length and that manipulator was not able to carry out a series of link motion, in case of being the link vertical between two parallel guides.

• Journal of Mechanical Science and Technology
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• 제16권8호
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• pp.1072-1078
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• 2002

The constrained motion requires the determination of constraint force acting on unconstrained systems for satisfying given constraints. Most of the methods to decide the force depend on numerical approaches such that the Lagrange multiplier method, and the other methods need vector analysis or complicated intermediate process. In 1992, Udwadia and Kalaba presented the generalized inverse method to describe the constrained motion as well as to calculate the constraint force. The generalized inverse method has the advantages which do not require any linearization process for the control of nonlinear systems and can explicitly describe the motion of holonomically and/or nongolonomically constrained systems. In this paper, an explicit equation to describe the constrained motion is derived by minimizing the performance index, which is a function of constraint force vector, with respect to the constraint force. At this time, it is shown that the positive-definite weighting matrix in the performance index must be the inverse of mass matrix on the basis of the Gauss's principle and the derived differential equation coincides with the generalized inverse method. The effectiveness of this method is illustrated by means of two numerical applications.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.264-268
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• 1987

This paper is concerned on kinematic analysis and simulation of an automatic feeding mechanism subjected by the motion of a curvilinear inverse can. The curvilinear cam is rotated by positioning a translating roller and the automatic feeding mechanism is moved to the sliding position by the motion of a campin fixed on the curvilinear cam. The curvilinear cam consists of two arcs of circles and two straight lines. The modular approach is used for the kinematic analysis of the feeding mechanism. As the first part of the paper for the motion simulation of the cam-feeding system, this paper discusses the algorithm to simulate the motion of the cam-feeding mechanism. The second part of the paper presents the state-of-art for the graphics-oriented CAD technique,

• 소음진동
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• 제10권5호
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• pp.800-805
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• 2000

To determine the modal matrix and modal frequency of engine mount system, we most solve so-called eigen-value problem. However eigen-value problem of engine mount system with hydraulic mount can not be solved by general eigne-analysis algorithm because the properties of hydraulic mount vary with frequency. so in this paper the method for modal analysis of rigid body motions of an engine supported by hydraulic mount is proposed. Natural frequencies and mode shapes of this nonlinear system are obtained by using complex exponential method and Laplace transformation method. In time domain, impulse response functions are calculated by (two-sided) discrete inverse Fourier Transformation of forced frequency response functions achieved by Laplace transformation of the differential equation of motion. Considering the fact that frequency response functions synthesized by modal parameters form proposed method are in good agreement with original FRFs, it is proved that the proposed method is very efficient and useful for the analysis of eigne-value problem of hydraulic engine mount system.

• 한국구조물진단유지관리공학회 논문집
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• 제9권4호
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• pp.195-201
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• 2005

본 논문에서는 확장 사영필터를 적용하여 구조물의 손상추정법을 제안하였다. 필터이론은 지금까지 역문제 해석에서 많은 관심을 받아왔고 또한 다양한 문제에 적용되어 그 유효성을 보여 왔다. 본 논문에서는 사영필터를 이용한 손상추정 역해석법 알고리즘을 제시하였고 제안 해법의 유효성을 보이기 위하여 트러스 구조의 자유진동문제를 대상으로 하여 해석 예를 보였다.

• 대한기계학회논문집A
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• 제22권1호
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• pp.170-176
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• 1998

In this paper, the column space and null space of the Jacobian matrix were obtained by using the pseudo-inverse method and projection matrix. The equations of motion of the system were replaced by independent acceleration components using the null space matrix. The proposed method has the following advantages. (1) It is simple to derive the null space. (2) The efficiency is improved by getting rid of constrained force terms. (3) Neither null space updating nor coordinate partitioning method is required. The suggested algorithm is applied to a three-dimensional vehicle model to show the efficiency.

• Journal of Electrical Engineering and Technology
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• 제10권1호
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• pp.308-313
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• 2015

This paper describes a technique for complete identification of a two-dimensional scattering object and multiple objects immersed in air using microwaves where the scatterers are assumed to be a homogenous dielectric medium. The employed technique consists of initially retrieving the shape and position of the scattering object using a linear sampling method and then determining the electric permittivity and conductivity of the scatterer using adjoint sensitivity analysis. Incident waves are assumed to be TM (Transverse Magnetic) plane waves. This inversion algorithm results in high computational speed and efficiency, and it can be generalized for any scatterer structure. Also, this method is robust with respect to noise. The numerical results clearly show that this hybrid approach provides accurate reconstructions of various objects.

• 대한전기학회논문지
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• 제32권12호
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• pp.435-440
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• 1983

The methods of forming the bus impedance matrix, which is mainly employed in fault analysis of power system, can be generally classified in catagories, (1) the one being the inverse matrix of bus admittance matrix, and (2) the other the bus impedance matrix succesive formation method by particular algorithms. The former method is theouetically elegant, but the formation and inverse of complex bus admittance matrix for large power system requires too much amounts of computer memory space and computing time. The latter method also requires too much memory space. Therefore, in this paper, an algorithm and computer program is introduced for the formation of a sparse bus impedance matrix which generates only the matching terms of the admittance matrix. So, this method can reduce the computer memory and computing time, and can be applied to fault analysis of large power system by small digital computer.

• 대한기계학회논문집B
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• 제25권2호
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• pp.195-201
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• 2001

An inverse heat conduction problem(IHCP) arises when unknown heat fluxes and whole temperature field are to be found with temperature measurements of a few points. In this paper, observers are proposed as solution algorithm for the IHCP. A 1-dimensional heat transfer problem is modeled with modal analysis and state space equations. Position of the heat source is estimated through test heat inputs and the autocorrelation among a few of temperature data. The modified Bass-Gura method is used to design a state observer to estimate the intensity of heat source and the whole temperature field of a 1-dimensional body. To verify the reliability of this estimator, analytic solutions obtained from the proposed method are compared.

• 한국정밀공학회지
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• 제23권7호
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• pp.76-83
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• 2006

In this paper, an analysis on a new robot manipulator developed for the side buffing of the shoes is presented. The robot manipulator is composed of five degrees of freedom. An analysis on the forward and inverse kinematics was performed. Through the analysis, an analytic solution was derived for the joint angles corresponding to the position and orientation of the tool in the Cartesian coordinates. The hardware system of the robot composed of the control system, input/output interface system, and related electronic system was developed. The communication system was also developed to interact the robot with the related surrounding systems. A graphic user interface(GUI) program including the forward/inverse kinematics, control algorithm, and communication program was developed using visual C++ language.