• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.419-424
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• 1986

A technique is developed which allows a designer to interactively create an assembly of components by specifying mating contions between the individual components. Once establishing the relationships between components via the mating conditions, each component's location and orientation in the final assembly is computed. The joint information for a kinematic and dynamic analysis can be derived from the mating conditions, therefore this work may be extended to incorporate this analysis. Thorugh this development it will no longer be necessary for a designer to specify cumbersome and error prone transformation matrices in order to create an assembly. The designer also will be able to perform a kinematic or a dynamic analysis directly from an assembly model if the joint information can be automatically derived.

• Journal of Aerospace System Engineering
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• v.6 no.3
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• pp.24-28
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• 2012

An actuator should be added to a existing control linkage to make manned aircraft to unmanned. But it is quiet difficult to synchronize actuator with control surface because non-linear error necessarily occurs when four-bar linkage acts in three dimensional motion. In addition, in point of controller design view, while a real-time model needs the control surface deflection as its input, controller needs the actuator command as its output. Hence, the relation between both should be investigated. In this paper, the mathematical relation between actuator and control surface deflection investigated by kinematic analysis of a plant aircraft. The performance margin of the selected actuator also was verified.

• Transactions of Materials Processing
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• v.15 no.8 s.89
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• pp.533-538
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• 2006

A simplified numerical procedure to predict drawbead restraining forces(DBRF) has been developed based on the hybrid membrane/bending method which superposes bending effects onto membrane solutions. As a semi-analytical method, the new approach is especially useful to analyze the effects of various constitutive parameters. The present model can accommodate general anisotropic yield functions along with non-linear isotropic-kinematic hardening under the plane strain condition. For the preliminary results, several sensitivity analyses for the process and material effects such as friction, drawbead depth, hardening behavior including the Bauschinger effect and yield surface shapes on the DBRF are carried out.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.1
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• pp.223-235
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• 1993

VTR(Video Tape Recorder) has very complicated mechanisms composed of various cams, links, gears and so on. To satisfy kinematic requirements of VTR components, various geometric constraints between rigid bodies and a translational cam design program are developed. Mechanisms of VTR are divided into functional groups like a control part, a loading part and a tape guide part. Each group is modeled for kinematic and dynamic analysis. Finally, all groups are combined together for a complete VTR model and loads required for each function of VTR controls are studied. Detailed description of developed programs are presented and result are discussed.

• Transactions of Materials Processing
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• v.17 no.3
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• pp.161-169
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• 2008

In the present work, the two-back stress model is proposed and continuum damage mechanics (CDM) is incorporated into the plastic constitutive relation in order to describe the plastic deformation localization and the damage evolution in a deforming continuum body. Coupling between damage mechanics and isothermal rate independent plasticity is performed using the kinematic hardening rule, which in turn is formulated by combining the nonlinear Armstrong-Frederick rule and the Phillips rule. The numerical analyses are carried out within h deformation theory. It is noted that the damage evolution within a work piece accelerates the plastic deformation localization such that the material with lower hardening exponent results in a rapid shear band formation. Moreover, the results from the numerical analysis reflected closely with the micro-structures around the fractured regime. The effects of the various hardening parameters on deformation localization are also investigated. As the nonlinear strain rate description in the back stress evolution becomes dominant, the strain localization becomes intensified as well as the damage evolution.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.216-223
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• 2010

Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a new robotic lamp that creates three degrees of freedom (DOF) motion by using a spherical-type parallel mechanism with a unique forward kinematic position. In the robotic lamp, three motors are placed at the base frame to control two tilting angles and one zoom in-and-out motion for a localized light. The kinematic model of this device is derived and the proto type has been developed. The performance of this device was verified through experiment.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.191-196
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• 2006

In GPS Positioning, the error of satellite orbit will affect user's position accuracy directly, it is important to determine the satellite orbit precise. The real-time orbit is needed in kinematic GPS positioning, the precise GPS orbit from IGS would be delayed long time, so orbit prediction is key to real-time kinematic positioning. We analyze the GPS predicted ephemeris, on the base of comparison of EKF and UKF, a new orbit prediction method is put forward based on UKF in this paper, the result shows that UKF improves the orbit predicted precision and stability. It offers a new method for others satellites orbit determination as Galileo, and so on.

• Journal of the Korean Society of Safety
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• v.11 no.4
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• pp.16-23
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• 1996

In controlling manipulators interacting with the external environment, an important role is played by the Force/Torque(F/T) sensors. Recently, a number of structures for F/T sensors have been proposed, and some criteria for their evaluation have been introduced. This paper presents a systematic analysis of F/T sensor at the design stage. A model of the F/T sensors, based on Stewart Platform structure, is developed on the basis of static and kinematic equation. The condition number defined by the kinematic velocity and force analysis of F/T sensor is used as a performance Index. Thus, 4 optimal structure factors of 6 D.O. F. F/T sensor are determined by using the condition number.

• Transactions of Materials Processing
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• v.23 no.5
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• pp.297-302
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• 2014

The current paper introduces work that was conducted during the development of a stamping die for a reinforce center pillar made from high strength steel. In the current study, the Bauschinger effect on the springback analysis was studied by comparing simulation results with real panels, which are currently in production. For a complicated part shape, quantitative measurements of the deformed shape are not easy in general to obtain. An adjustment procedure of the shape data for some chosen sections has been suggested to improve the accuracy of the quantitative measurements. The results show that the kinematic hardening model provides more accurate results.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.9
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• pp.158-166
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• 1998

This paper presents a geometrical approach to the characteristic analysis of parallel mechanism with free joints intended for use as a planar task robot. Solution of the forward and inverse kinematic problems are described. Because the mechanism has only three degree-of-freedom output, constraint equations must be generated to describe the inter-relationship between actuated joints and free joints so as to describe the position and orientation of the moving platform. Once these constraints are incorporated into the kinematics model, a constrained Jacobian matrix is obtained. and it is used for the solution of the forward kinematic equations by Newton-Raphson technique. Another Jacobian matrix was derived to describe the interrelationship between actuated joints and moving platform. The stiffness, velocity transmission ratio, force transmission ratio and dexterity of the mechanism are then determined based on this another Jacobian matrix. The geometrical construction of the mechanism for the best performance was investigated using the characteristic analysis.