• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.360-371
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• 1998

In this paper, output precision characteristics of a planar 6 degree-of-freedom parallel mechanisms are investigated, where the 6 degree-of-freedom mechanism is formed by adding an additional link along with an actuated joint in each serial subchain of the planar 3 degree-of-freedom parallel mechanism. Kinematic analysis for the parallel mechanism is performed, and its first-order kinematic characteristics are examined via kinematic isotropic index, maximum and minimum input-output velocity transmission ratios of the mechanisms. Based on this analysis, two types of planar 6 degrees-of-freedom parallel manipulators are selected. Then, dynamic characteristics of the two selected planar 6 degree-of-freedom parallel mechanisms, via Frobenius norms of inertia matrix and power modeling array, are investigated to compare the magnitudes of required control efforts of both three large actuators and three small actuators when the link lengths of three additional links are changed. It can be concluded from the analysis results that each of these two planar 6 degrees-of-freedom parallel mechanisms has an excellent control-in-the-small characteristics and therefore, it can be very effectively employed as a high-precision macro-micro manipulator when both its link lengths and locations of small and large actuators are properly chosen.

• 한국정밀공학회지
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• 제22권11호
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• pp.72-81
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• 2005

A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and compared. The first design employs RU joint arrangement for the serial sub chain structure. The second design incorporates a gear chain to drive the distal revolute joint of the serial sub-chain from the base platform of the mechanism. This modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model with respect to three inputs which are located at the base is derived. Thirdly, it is confirmed through simulation that the modified mechanism has much more improved isotropic characteristic throughout the workspace of the mechanism. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.63-72
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• 2003

A new 6-DOF parallel haptic device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism can generate 6-DOF reflecting force. This device is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design is performed for this mechanism. Dexterous workspace, global isotropic index, and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multi-criteria optimization problem. composite design index is employed. For the given operational specifications, actuator sizing for this mechanism is also carried out.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.1035-1043
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• 2006

In this study, a translational 3-DOF parallel mechanism formed by constraining the Stewart Platform Mechanism is investigated. The translational 3-DOF parallel mechanism has three struts(3-UPS type serial subchains) and in addition, has a PPP type serial subchain in the middle of the mechanism. Firstly, the closed-form forward and reverse position solutions are derived for this mechanism. And analysis on kinematic characteristics using isotropic index of the Jacobian is conducted to examine effects of design parameters for the mechanism. Lastly, a prototype mechanism is implemented and the kinematic performance of the translational 3-DOF parallel mechanism was verified through experimental work.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 추계학술대회 논문집
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• pp.617-622
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• 1994

In this paper, we perform a two-stage, kinematic optimal design for 3 degree-of-freedom excavator system which consists of boom, arm, and bucket. The objective of the first stage is to find the optimal joint parameters which maximize the force-torque transmission ratio between the hydraulic actuator and the rotating joint. The objective of the first stage is to find the optimal link parameters which maximize the isotropic characteristic throughout the workspace. It is illustrated that performances of the optimized excavator are improved compared to those of HE280 excavator, with respect to the described performace index and maximum load handling capacity.

• 융합신호처리학회논문지
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• 제7권1호
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• pp.38-44
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• 2006

The omnidirectional mobility of a mobile robot may lose significance in motion control, unless the isotropy characteristics of the mechanism is maintained well. This paper investigates the local and global isotropy of an omnidirectional mobile robot with three caster wheels. All possible actuations with different number and combination of rotating and steering joints are considered. First, the kinematic model based on velocity decomposition and the algebraic conditions for the local isotropy are obtained. Second, the geometric conditions for the local isotropy are derived and all isotropic configurations are fully identified. Third, the global isotropy index is examined to determine the optimal parameters in terms of actuation set, characteristic length, and steering link length.

• Geomechanics and Engineering
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• 제31권1호
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• pp.99-112
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• 2022

The present study examines the natural frequencies (NFs) of perfect/imperfect functionally graded sandwich beams (P/IP-FGSBs), which are composed of a porous core constructed of functionally graded materials (FGMs) and a homogenous isotropic metal and ceramic face sheets resting on elastic foundations. To accomplish this, the material properties of the FGSBs are assumed to vary continuously along the thickness direction as a function of the volume fraction of constituents expressed by the modified rule of the mixture, which includes porosity volume fraction represented using four distinct types of porosity distribution models. Additionally, to characterize the reaction of the two-parameter elastic foundation to the Perfect/Imperfect (P/IP) FGSBs, the medium is assumed to be linear, homogeneous, and isotropic, and it is described using the Winkler-Pasternak model. Furthermore, the kinematic relationship of the P/IP-FGSBs resting on the Winkler-Pasternak elastic foundations (WPEFs) is described using trigonometric shear deformation theory (TrSDT), and the equations of motion are constructed using Hamilton's principle. A closed-form solution is developed for the free vibration analysis of P/IP-FGSBs resting on the WPEFs under four distinct boundary conditions (BCs). To validate the new formulation, extensive comparisons with existing data are made. A detailed investigation is carried out for the effects of the foundation coefficients, mode numbers (MNs), porosity volume fraction, power-law index, span to depth ratio, porosity distribution patterns (PDPs), skin core skin thickness ratios (SCSTR), and BCs on the values of the NFs of the P/IP-FGSBs.

• 제어로봇시스템학회논문지
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• 제6권1호
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• pp.81-90
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• 2000

Parallel manipulator is suitable for the high precise task because it than has higher stiffness, larger load capacity and more excellent precision, due to the closed-lop structure, than serial manipulator. But the controller design for parallel manipulator is difficult because the parallel manipulator has both the complexity of structure and the interference of actuators. The precision improvement of parallel manipulator using a classical linear control scheme is difficult because the parallel manipulator has the tough nonlinear characteristics. In this paper, firstly, the kinematic analysis of a parallel manipulator used at the experiments is performed so as to show the controllability. The analysis of internal singular configuration of the workspace is performed using the kinematic isotropic index so a sto show the limitation of control performance of a simple linear controller with fixed control gains. Secondly, a control scheme is designed by using an adaptive fuzzy logic controller so that active joints of the parallel manipulator track more precisely the desired input trajectory. This adaptive fuzzy logic controller so that active joints of the parallel manipulator track more precisely the desired input trajectory. This adaptive fuzzy logic controller is often used for the control of nonlinear system because it has both the inference ability and the learning ability. Lastly, the effeciency of designed control scheme is demonstrated by the real-time control experiments with IBM PC interface logic H/W and S/W of my won making. The experimental results was a success.

• Steel and Composite Structures
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• 제25권2호
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• pp.157-175
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• 2017

The novelty of this work is the use of a new displacement field that includes undetermined integral terms for analyzing thermal buckling response of functionally graded (FG) sandwich plates. The proposed kinematic uses only four variables, which is even less than the first shear deformation theory (FSDT) and the conventional higher shear deformation theories (HSDTs). The theory considers a trigonometric variation of transverse shear stress and verifies the traction free boundary conditions without employing the shear correction factors. Material properties of the sandwich plate faces are considered to be graded in the thickness direction according to a simple power-law variation in terms of the volume fractions of the constituents. The core layer is still homogeneous and made of an isotropic material. The thermal loads are assumed as uniform, linear and non-linear temperature rises within the thickness direction. An energy based variational principle is employed to derive the governing equations as an eigenvalue problem. The validation of the present work is checked by comparing the obtained results the available ones in the literature. The influences of aspect and thickness ratios, material index, loading type, and sandwich plate type on the critical buckling are all discussed.