• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1613-1616
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• 1997

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

• 한국지반공학회논문집
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• 제15권5호
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• pp.205-215
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• 1999

파쇄성 사질토 지반은 세계각지의 해안을 중심으로 넓게 분포되어 있고, 칼슘성분을 다량 함유한 석회질 모래지반은 입자파쇄의 영향으로 높은 압축성을 나타내는 특징이 있다. 본 연구에서는 모래의 강도-변형특성에 관여하는 입자파쇄의 특성을 명백히 하기 위하여, 세가지 종류의 카보네이트계 모래와 실리카계의 모래를 이용하여 광범위한 응력영역에 대한 등방압축시험을 실시하였다. 다양한 상대밀도에 대한 등방압축 조건에서 압축 항복응력과 입자 파쇄응력과의 관계로부터 파쇄성지표 K를 제안하였다. 제안된 파쇄성지표 K는 흙입자 강도와도 밀접한 관계를 가지며, 흙의 파쇄성을 평가하기 위한 중요한 인자로 사료된다.

• Geomechanics and Engineering
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• 제17권6호
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• pp.527-534
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• 2019

There have been developed a number of methods to assess the abrasivity of rock materials with the increased use of mechanized rock excavation. These methods range from determination of abrasive and hard mineral content using petrographic thin section analysis to weight loss or development of wear flat on a specified cutting tool. The Cerchar abrasivity index (CAI) test has been widely accepted for the assessment of rock abrasiveness. This test has been considered to provide a reliable indication of rock abrasiveness for isotropic rocks. However, a great amount of rocks in nature are anisotropic. Hence, viability assessment of Cerchar abrasivity test for the anisotropic rocks is investigated in this research. The relationship between CAI value and quartz content for the isotropic rocks is well known in literature. However, a correlation between EQ, F-Schimazek value, Rock Abrasivity Index (RAI) and CAI of anisotropic rocks such as phyllite was done first time in literature with this research. The results obtained with this research show F-Schimazek values and RAI values should be considered when determination of the abrasivity of anisotropic rocks instead of just using Cerchar scratch test.

• 대한기계학회논문집A
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• 제28권11호
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• pp.1776-1785
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• 2004

In this research, the relationships between static bimaterial constant and dynamic oscillation index are studied. It was certified that static bimaterial constant has the same form equation as the dynamic oscillation index. Bimaterial constant and oscillation index are increased with the increment of Young's modulus ratio and approached to the some value. Isochromatic fringe patterns are slanted to the left side with increment of bimaterial constants and oscillation index. Though patterns of stress components in above the crack surface are similar to each other, their magnitudes are different a little. In the ahead of crack tip, there are big differences in the isochromatic fringe patterns and their magnitudes. The influence of bimaterial with Young's modulus ratio is bigger in the propagation crack than in the stationary crack.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.299-303
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• 2004

In our pervious paper, a new parallel-type spherical 3-degree-of-freedom mechanism consisting of a two-degree-of-freedom parallel module and a serial RRR subchain was proposed[1]. In this paper, its improved version is suggested and implemented. Differently from the previous 3-dof spherical mechanism, gear chains are incorporated into the current version of the mechanism to drive the distal revolute joint of the serial subchain from the base of the mechanism and in fact, the modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, after a brief description on its structure, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model of the mechanism for the inputs which are assumed to be located at the base is derived. Thirdly, through the simulations of the kinematic analysis via. kinematic isotropic index, it is confirmed that the mechanism has much more improved isotropic properties throughout the workspace of the mechanism than the previous mechanism in [1]. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.525-529
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• 2004

A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.520-524
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• 2004

In this work, a novel spherical 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism within 3-DOF spherical space. The closed form solutions of position analysis of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.210-216
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• 2001

In this paper, design of a 3-degree-of-freedom mobile robot with three caster wheels is performed. Initially, kinematic modeling and singularity analysis of the mobile robot is performed. It is found that the singularity can be avoided when the robot has more than two wheels on which two active joints are located. Optimal kinematic parameters of mobile robots with three active joint variables and with four active joint variables are obtained and compared with respect to kinematic isotropic index of the Jacobian matrix of the mobile robot which is functions of the wheel radius and the length of steering link.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1693-1696
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• 2003

In this paper, input-output velocity transmission characteristics of the Casing Oscillator, which is a constructional machine with 4 degree of freedom are examined. After the Jacobian matrix is decomposed into linear part and angular part, the linear and the angular velocity transmission characteristics are analyzed and visualized in easy way even in the case of 3 dimensional task space with 4 variables. Regarding the measure of dexterity of the Casing Oscillator, the kinematic isotropic index and the manipulability measures which are respectively represented the isotropy and the volume of the manipulability ellipsoid are combined. A performance of the Casing Oscillator is evaluated by the combined manipulability measure.

• 한국정밀공학회지
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• 제22권8호
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• pp.118-127
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• 2005

A spatial 3 degrees-of-freedom mechanism employing Stewart Platform structure is proposed: the mechanism maintains the 3- RRPS structure of Stewart Platform but has an additional passive PRR serial sub-chain at the center area of the mechanism in order to constrain the output motion of the mechanism within the output motion space of the added PRR serial subchain. The forward and reverse position analyses of the mechanism are performed. Then the mechanism having both the forward and the reverse closed-form solutions is suggested and its closed form solutions are derived. It is confirmed, through the kinematic analysis of those two proposed mechanisms via kinematic isotropic index, that both the proposed mechanisms have fairly good kinematic characteristics compared to the existing spatial 3-DOF mechanisms in literature.