• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.3
• /
• pp.666-672
• /
• 2017

Our research team is developing a 6-DOF manipulator for narrow workspaces in press forming processes, such as placing PEM nuts on the bottom of a chassis. In this paper, kinematic analysis was performed for the position control of the manipulator, along with structural analyses for position accuracy with different payloads. First, the Denavit-Hatenberg (DH) parameters are defined, and then the forward and backward kinematic equations are presented using the DH parameters. The kinematic model was verified by visual simulation using Coppelia Robotics' virtual robot experimentation platform (V-REP). Position accuracy analysis was performed through structural analyses of deflection due to self-weight and deflection under full payload (5 kgf) in fully opened and fully folded states. The maximum generated stress was 22.05 MPa in the link connecting axes 2 and 3, which was confirmed to be structurally safe when considering the materials of the parts.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10b
• /
• pp.264-268
• /
• 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,

• Transactions of the Korean Society of Automotive Engineers
• /
• v.10 no.6
• /
• pp.187-193
• /
• 2002

Since the bus is regarded as the one of the most public transportation systems, research on the safety and facilities of the bus has been increased actively in recent years. In this paper, we concern the design of the bus door mechanism that is composed of many linkages and actuators(or motors). In particular, the folding door mechanism is representative system installed in most of urban buses. To design the folding door mechanism, we construct the kinematic and dynamic analysis model fur computer simulation. Also, the dynamic analysis is accomplished by both direct dynamics and inverse dynamics. Since the folding door mechanism has many design variables, the analysis program is developed to perceive kinematic and dynamic characteristics according to the design variables and simulation conditions.

• Economic and Environmental Geology
• /
• v.52 no.3
• /
• pp.231-241
• /
• 2019

Kinematic analysis determines the stability of rock slope by analyzing the relationship between the slope face orientation and the discontinuity orientation. In this study, terrestrial LiDAR was used to obtain a large amount of discontinuity orientation data and then, the probabilistic characteristics of the orientation data obtained using terrestrial LiDAR were analyzed. Subsequently, the probabilistic kinematic analysis was carried out using the discontinuity orientations generated randomly from Fisher function in Monte Carlo simulation. In addition, the probabilistic kinematic analysis was also performed using the actual orientation data obtained from the terrestrial LiDAR to compare their results. Consequently, the results of both probabilistic analyses showed similar results. Therefore, if sufficient orientation data are provided by other means such as terrestrial LiDAR, the probabilistic analysis will show reasonable results using the actual field data without randomly generating orientation data. In addition, the deterministic kinematic analysis was also carried out using representative orientation of discontinuity sets. The analysis result of the probabilistic analysis showed similar results with the deterministic analysis because the dispersion of the discontinuity orientations in a joint set is not large.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.11 no.2
• /
• pp.79-87
• /
• 1993

Executing various constructions and national land planning, it has rised importance how to acquire 3-dimensional geographical information efficiently. In conjunction with this, the concerned parties are interested in the accuracy of GPS positioning and applications. This study suggest the efficiency and possibility to apply geographical information construction by kinematic GPS surveying as comparing kinematic GPS results with triangulation, trilateration and static GPS results. In this study, we try to compare static with kinematic and can determine 3-D positions with difference of 6 mm in distance, 2"/10,000-4"/10,000, 20 cm in latitude, longitude and height at local area. In addition, difference from conventional surveying is about 1"/l0,000-3"/10,000 in horizontal. Therefore it is expected to apply kinematic GPS to make out topographic map and to construct data base associated with GIS.associated with GIS.

• Economic and Environmental Geology
• /
• v.47 no.2
• /
• pp.121-131
• /
• 2014

The stability of rock slope is mainly controlled by the orientation and shear strength of discontinuties in rock mass. Therefore, in kinematic analysis, the orientation of the combination of discontinuities and slope face is examined to determine if certain modes of failure can be occurred. In previous kinematic analysis, a representative orientation of the slope face and mean orientation of discontinuity set were used as input parameters. However, since the orientations of slope face varies according to locations of measurement, the representative slope face orientation could cause misunderstanding for kinematic instability. In addition, since the orientations of each discontinuity are scattered in the same discontinuity set, there is the possibility that uncertainties are involved in the procedure of kinematic analysis. Therefore, in this study, the detailed digital topographic map was used to obtain the orientation of slope face. In addition, the probabilistic analysis approach was utilized to deal properly with the uncertainties in discontinuity orientation. The proposed approach was applied to steep slopes in mountain road located in Baehuryeong, Chunncheon city, Gangwon-Do. The analysis results obtained from the deterministic and probabilistic analysis were compared to check the feasibility of proposed the analysis.

• Proceedings of the Korean Society for Technology of Plasticity Conference
• /
• 2000.04a
• /
• pp.96-100
• /
• 2000

It is difficult to predict material behavior of forming process because the plastic instable flow phenomenon happens in practical forming process I. e. upsetting backward extrusion piercing indentation. In view of the direct relationship between instable material flow and quality defects of the products we should find out their phenomena, In this study we introduced the plastic spin and the kinematic hardening considering the kinematic hardening constitutive equation for rate-dependent material. Also analysis of upset forging is carried out using the rigid plastic FEM with Al7075

• Proceedings of the KSR Conference
• /
• 2002.10b
• /
• pp.863-869
• /
• 2002

Studied in this paper was the kinematic envelope of the railway vehicle to calculate the lateral displacement using the multi-body dynamic simulation program (VAMPIRE) and the BASS 501. The lateral displacement of railway vehicle is occurred by the clearance between wheel flange and rail, the track irregularity, the property of each suspension of vehicle and the cant of track etc. The results of analysis shown that Vehicle is not interfere with subway platform in any conditions namely the tare and full load condition, the wheel wear condition and the stationary and running of vehicle.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.8 no.1
• /
• pp.110-123
• /
• 2000

In this Study, the dynamic equation for vibration analysis of mechanical systems with kinematic constraints is derived. This equations are derived in terms of small displacements of Cartesian coordinates, and are applied to compute the dynamic response and the natural modes of the suspension system of a vehicle. The results are validated through the comparison with the results from conventional nonlinear dynamic analysis and modal test.

• The Journal of Korea Robotics Society
• /
• v.12 no.2
• /
• pp.194-205
• /
• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.