• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.12
• /
• pp.1026-1032
• /
• 2003

A biped walking robot which is developed as a platform for researching walking algorithm is briefly introduced. The developed walking robot has 6 degrees of freedom per one leg. The origins of the last three axis do not intersect at a point, so the kinematic analysis is cubmersome with the conventional method. In the former version of the robot, Jacobian-based inverse kinematics method is used. However, the Jacobian-based inverse kinematics method has drawbacks for the application in which knee is fully extended such as stair-case walking. The reason far that is the Jacobian becomes ill-conditioned near the singular points and the method is not able to give adequate solutions. So, a method for giving a closed-form inverse kinematics solution is proposed. The proposed method is based on careful consideration of the kinematic structure of the biped walking robot.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.17 no.3
• /
• pp.1-7
• /
• 2008

This paper describes the kinematics which is a new type of parallel manipulator, and the neural network is applied to solving the forward kinematics problem. The parallel manipulator called it as a Stewart platform has an easy and unique solution about the inverse kinematics. However, the forward kinematics is difficult to get a solution because of the lack of an efficient algorithm caused by its highly nonlinearity. This paper proposes the neural network scheme of an Newton-Raphson method alternatively. It is found that the neural network can be improved its accuracy by adjusting the offset of the obtained result.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.11
• /
• pp.925-936
• /
• 2003

The manipulability analysis of the parallel-type rolling mill proposed in Hong et al. [1] is re-visited. The parallel rolling mill uses two Stewart platforms in opposite direction for the generation of 6 degree-of-freedom motions of each roll. The objective of this new parallel rolling mill is to permit an integrated control of the strip thickness, strip shape, pair crossing angle, uniform wear of rolls, and tension of the strip. New forward/inverse kinematics problems, in contrast with [1], are formulated. The forward kinematics problem is defined as the problem of finding the roll-gap and the pair-crossing angle of two work rolls for given lengths of twelve legs. On the other hand, the inverse kinematics problem is defined as the problem of finding the lengths of twelve legs when the roll-gap, the pair-crossing angle, and the position and orientation of one work roll are given. The method of manipulability analysis used in this paper follows the spirit of [1]. But, because the rolling force and moment exerted from both upper and lower rolls have been included in the manipulability analysis, more accurate results than the use of a single platform can be achieved. Two. kinematic parameters, the radius of the base and the angle between two neighboring joints, are optimally designed by maximizing the global manipulability measure in the entire workspace.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.12
• /
• pp.47-53
• /
• 2000

The casing oscillator is a construction equipment to clamp, oscillate and push a casing for foundation work. In case that the casing oscillator is operated on the slant ground, if another construction heavy equipment is not used, it is impossible to insert the casing in ground using only casing oscillator. So in this paper, we present the new casing oscillator that need not to level the ground for work of casing insertion. This mechanism can execute 4 DOF motion by actuating 5 single - rod hydraulic cylinders. The inverse kinematics analysis of the casing oscillator is performed and we verify the validity of kinematics analysis through the experiment.

• Journal of the Korean Society for Precision Engineering
• /
• v.32 no.1
• /
• pp.89-96
• /
• 2015

In this paper, it is studied that kinematic analysis of a 5-axis ultrasonic inspection equipment. The equipment is comprised of three straight axes and two rotary axes. With features of ultrasonic, the transmitter and receiver of the equipment are vertical to a test surface, operating at regular intervals. To perform this well, the motions of every link should be found on the based of kinematic analysis of the equipment. We chose starting point for testing and defined relations among all links through transformation of coordinates. For double curvature-shaped test object, we generated test paths. To follow these, we found motions of all links using inverse kinematics. By using Matlab/Simulink, simulator was developed, so that we could find out desired trajectories of main axes for a scan.

• Journal of the Korean Society of Industry Convergence
• /
• v.22 no.6
• /
• pp.807-819
• /
• 2019

In this paper, it is proposed a new approach to motion control and kinematics analysis of articulated manipulator attachment with five degree of freedom for excavator. Unlike the well-established theory for the control of linear systems, there is little general control theory relatively for a robust control of nonlinear systems. The control technique is essential for providing a stable and robust performance for application of articulated manipulator control. The proposed control algorithm is one of robust control methods based on error informations of the position and velocity error informations using stability analysis of dynamic model. Through simulation test, the proposed control scheme is illustrated to be a efficient control technique for real-time control.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.2
• /
• pp.414-430
• /
• 1996

In this paper, a new kinematic structure of a parallel manipulator with six Cartesian degrees of freedom is proposed. It consists of a platform which is connected to a fixed base by means of 3-PPSP(parameters P, S denote the prismatic, spherical joints) subchains. Each subchain has a link which is concected to a passive prismatic joint at the one end and a passive spherical joint at the other. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. The spherical joint is then attached to perpendicularly arranged prismatic actuators which are fixed at the base. This arrangement provides a basis to control all six Cartesian degrees of motion of the platform in space. Due to its efficient architecture, the colsed-form solutions of the inverse and forward kinematics can be obtained. As a consequence, this new kinematic structure can be servo controlled using simple inverse kinematics becaese forward kinematics allows for measuring the platform's position and orientation in Cartesian space. Furthermore, the proposed structure provides an effective functional workspace. Series of simulations are performed to verify the results of the kinematics analyses.

• Restorative Dentistry and Endodontics
• /
• v.47 no.2
• /
• pp.22.1-22.18
• /
• 2022

Objectives: This systematic review (register-osf.io/wg7ba) compared the efficacy and safety of rotary and reciprocating kinematics in the removal of filling material from curved root canals. Materials and Methods: Only in vitro studies evaluating both kinematics during retreatment were included. A systematic search (PubMed/MEDLINE, Scopus, and other databases, until January 2021), data extraction, and risk of bias analysis (Joanna Briggs Institute checklist) were performed. Efficacy in filling removal was the primary outcome. Results: The search resulted in 2,795 studies, of which 15 were included. Efficacy was measured in terms of the remaining filling material and the time required for this. Nine studies evaluated filling material removal, of which 7 found no significant differences between rotary and reciprocating kinematics. Regarding the time for filling removal, 5 studies showed no difference between both kinematics, 2 studies showed faster results with rotary systems, and other 2 showed the opposite. No significant differences were found in apical transportation, centering ability, instrument failure, dentin removed and extruded debris. A low risk of bias was observed. Conclusions: This review suggests that the choice of rotary or reciprocating kinematics does not influence the efficacy of filling removal from curved root canals. Further studies are needed to compare the kinematics safety in curved root canals.

• Journal of Mechanical Science and Technology
• /
• v.18 no.8
• /
• pp.1319-1326
• /
• 2004

Transient 3-dimensional elasto-hydrodynamic lubrication (EHL) analysis is performed on the contacting teeth surfaces of involute spur gears. Kinematics of the gear and the pinion are taken into account to get accurate geometric clearance around the EHL region of the contacting teeth. The surface pressure and film thickness distribution for the whole contact faces in a lubricated condition at several time steps are obtained through the analysis. Besides the pressure spike at the outlet region, a representative phenomenon in EHL regime, the pressure at the inlet region is slightly higher than that of the center region. The film thickness of transient condition is thicker than that of steady condition.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.5 no.5
• /
• pp.27-36
• /
• 1997

For the strength design of the brake system of a forklift truck, a procedure to calculate the internal forces acting on the system is presented in this paper. Vehicle dynamics, brake system kinematics, and internal force equilibrium analysis are integrated into the procedure. Design parameters such as stopping distance, maximum decceleration, and maximum torque generated by pedal force are considered in the vehicle dynamics, and geometric parameters of the brake system are considered in the brake system kinematics. With the two analysis results obtained, the internal forces acting in the brake system are finally calculated in the procedure.