• International Journal of Precision Engineering and Manufacturing
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• v.2 no.1
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• pp.76-80
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• 2001

A binary parallel robot manipulator uses actuators that have only two stable states being built by stacking variable geometry trusses on top of each other in a long serial chain. Discrete characteristics of the binary manipulator make it impossible to analyze an inverse kinematic problem in conventional ways. We therefore introduce new definitions of workspace and inverse kinematic solution, and the apply a genetic algorithm to the newly defied inverse kinematic problem. Numerical examples show that our genetic algorithm is very efficient to solve the inverse kinematic problem of binary robot manipulators.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.8 s.173
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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.

• Korean Journal of Applied Biomechanics
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• v.28 no.3
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• pp.151-158
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• 2018

Objective: In this study, we analyzed kinematic changes in the start phase of speed skating before and after physical training. Method: We introduced a new strength training program (2017) that was improved in terms of exercise type and intensity [%, one repetition maximum (1RM)] compared with the previous strength training program (2016). The new program was applied to elite speed skating athletes (four males and four females). To determine the improvement in starting technique, we recorded race images during the start phase of the 500-m race held in 2016 and 2017. The race images were collected using five high-speed cameras and kinematic characteristics of the start phase were analyzed by three-dimensional image analysis. Results: The 1RMs were improved by 11% on an average after the strength training. In 2017, records of four out of the eight athletes were shortened in terms of the initial lap time (100 m), and 500-m records were shortened in six athletes. The time to nine strokes was shortened in five athletes, and the ratio of correct kinetic chain was increased or maintained at a high level in six athletes. Conclusion: In this study, the new strength training program (2017), applied to elite speed skating athletes, showed a positive effect on starting technique and reduced the record times.

• Korean Journal of Applied Biomechanics
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• v.30 no.3
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• pp.225-234
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• 2020

Objective: The purpose of this study was to investigate the kinematic sequence patterns according to movement times during Karate choku-tsuki. Method: Ten Korea national Karate athletes participated in this study. Participants asked to perform jodan and chudan choku-tsuki. 30 infrared cameras were used to measure angular kinematic of elbow, shoulder, trunk, pelvis, hip, knee, ankle. Results: The two-way repeated measures ANOVA revealed significant effects for the joints (p<.05). But no significant effect for the movement time and interaction of joints x movement time existed for the kinematic sequence variables. Conclusion: For karate kumite players to reduce the movement time of punch, it is necessary to train kinematic sequences that allow each joint to rotate at a relatively similar timing.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.9 no.2
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• pp.102-111
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• 2000

Methodology of volumetric error identification and compensation is presented to improve the accuracy of NC machine tools by using a reference artifact and a touch trigger probe. Homogeneous transformation matrix and kinematic chain are used for modeling the geo-metric and thermal errors of a three-axis vertical machining center. The reference artifact is designed and fabricated to identify the model parameters by machine tool metrology. Parameters in the error model are able to be identified and updated by direct measurement of the reference artifact on the machine tool under the actual conditions which include the thermal interactions of error sources. A volumetric error compensation system based on IBM/PC is linked with a FANUC CNC controller to compensate for the identified volumetric error in machining workspace.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2899-2908
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• 2000

Methodology of volumetric error identification is presented to improve the accuracy of NC machine tools by using a reference artifact and a touch trigger probe. Homogeneous transformation matrix and kinematic chain are used for modeling the geometric and thermal errors of a three-axis vertical machining center. The reference artifact is designed and fabricated to identify the model parameters by machine tool metrology. Parameters in the error model are able to be identified and updated by direct measurement of the reference artifact on the machine tool under the actual conditions which include the thermal interactions of error sources. The proposed method can speed up and simplify volumetric error identification processes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.507-512
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• 1997

This paper presents a method of finding optitnal joint torques of two robots when they hold an object simultaneously. Although the importance of the multiple cooperating robot system increases for more flcviblc ni;mufacturing automation, dynamic solutions to multi-robot system forming closcd kinematic chain is not easy to find. Newton-Eulcr approach is used for the dynamic formulation of two robots fonn~ng closcd kincmatic chains gmsping a rigid body object. The nrcthodology to optimize the joint torques to satisfy given criterta and obtain bettcr control of the system is discussed. The scheme is illustrated by an example.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.593-594
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• 2012

• Journal of Korean Society of Industrial and Systems Engineering
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• v.36 no.4
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• pp.25-30
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• 2013

This article deals with the transient analysis in bicycle shifting using a discrete chain model. Among the various components of a bicycle, we focused in the power-transmissions on the contact points between the chain element and sprocket. And by imposing kinematic motions on the front and rear derailleurs, we analyzed the shifting mechanism for increasing the rotational speed of rear wheel. In order to build the dynamic analysis model, we first tore down the real bicycle and measured each component's design parameters. Then we made 3-dimensional CAD models for each component related to the power transmission of a bicycle. Using the converted 3-dimensional dynamic model for the simulation program, we performed non-shifting and shifting dynamic analysis. As a result, we investigated the dynamic behaviors of a discrete chain model focused on the interaction between the chain and sprocket wheel.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.3
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• pp.84-92
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• 2014

In this paper, a novel 5-axis hybrid-kinematic machine tool is introduced and the research results on accuracy improvement of the prototype machine tool are presented. The 5-axis hybrid machine tool is made up of a 3-DOF parallel manipulator and a 2-DOF serial one connected in series. The machine tool maintains high ratio of stiffness to mass due to the parallel structure and high orientation capability due to the serial-type wrist. In order to acquire high accuracy, the methodology of measuring the output shafts by additional sensors instead of using encoder outputs at the motor shafts is proposed. In the kinematic view point, the hybrid manipulator reduces to a serial one, if the passive joints in the U-P serial chain at the center of the parallel manipulator are directly measured by additional sensors. Using the method of successive screw displacements, the kinematic error model is derived. Since a ball-bar is less expensive than a full position measurement device and sufficiently accurate for calibration, the kinematic calibration method of using a ball-bar is presented. The effectiveness of the calibration method has been verified through the simulations. Finally, the calibration experiment shows that the position accuracy of the prototype machine tool has been improved from 153 to $86{\mu}m$.