• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.515-522
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• 1991

Determining the motion using optimal technique about traveling time and trajectory planning has been studied often in recent years, but the study of determining the optimal robot dimensions is rare, the authors attempt to find out the least driving torques and energy as the optimization of link length ratio referred to 2R SCARA and 3R robot manipulators. For the given linear path with triangular velocity profile, the inverse kinematic and dynamic problems are examined in order to lead into solution of problem, which is suggested for optimal design of link lengths. Accordingly, optimal link length ratio is obtained with respect to each case.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.443-454
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• 2016

This study focus to make 8 legs robot based on Jansen's mechanism. In the process of making, we found GL(Ground length),GAC(Ground Angle Coefficient) and the height difference of tract and compare Several models with M.Sketch to find link's Length ratio Optimised simple walking and crossing of obstacles. In the process, our team Analyzed the difference ideal tract (Jansen holy number model's track) contrived by Jansen and our final model tract. As a result, we found optimal link's length ratio to over the obstacles and some features that our model differ from Jansen holy number model. It means that optimal link's length ratio depends on certain circumstances, perfect length ratio is nonexistent.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.11
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• pp.213-223
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• 1999

In this paper, input-output transmission characteristics of the Eclipse, which is a parallel machine tool capable of 5 face rapid machining, are investigated. By splitting the weighted Jacobian matrix into two parts, the force and moment transmission characteristics together with the velocity and angular velocity transmission characteristics are analyzed. A new manipulability measure, which combines the volume of the manipulability ellipsoid and the condition number of the splitted Jcobian matrix, is proposed. Two link parameters, the ratio of upper and lower platforms' radii and the length of a supporting link of the Eclipse, are designed by applying the new manipulability measure derived. Computer simulations are provided.

• Journal of the Korean Society for Precision Engineering
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• v.5 no.3
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• pp.20-30
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• 1988

Using the design parameters of multi-joint manipulator, worspace of the manipulator were evaluated analytically, and the relation between such design parameters and nonlinearity of the manipulator were presented dynamically. The ratio of the volumes of a manipulator's workspace to the cube of its total link length presents a kinematic performance index [NVI] for the manipullator. It is possible to geometrically represent the manipulator dynamics with the generalized inertia ellipsoid (GIE). The relation between the GIE configuration and the characteristics of manipulator dynamics was analysed in terms of inertia and nonlinear forces (Coliolis and centrifugal forces). The nonlinearity caused by the change of the GIE configuration were affected by the difference between the major and minor axes length of the GIE. The results of this investigationare applied to the optimal design of the manipulator.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.33 no.6
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• pp.419-426
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• 2020

The structural design of the steel eccentrically braced frame (EBF) was developed and analyzed in this study through multiobjective optimization (MOO). For the optimal design, NSGA-II which is one of the genetic algorithms was utilized. The amount of structure and interfloor displacement were selected as the objective functions of the MOO. The constraints include strength ratio and rotation angle of the link, which are required by structural standards and have forms of the penalty function such that the values of the objective functions increase drastically when a condition is violated. The regulations in the code provision for the EBF system are based on the concept of capacity design, that is, only the link members are allowed to yield, whereas the remaining members are intended to withstand the member forces within their elastic ranges. However, although the pareto front obtained from MOO satisfies the regulations in the code provision, the actual nonlinear behavior shows that the plastic deformation is concentrated in the link member of a certain story, resulting in the formation of a soft story, which violates the capacity design concept in the design code. To address this problem, another constraint based on the Eurocode was added to ensure that the maximum values of the shear overstrength factors of all links did not exceed 1.25 times the minimum values. When this constraint was added, it was observed that the resulting pareto front complied with both the design regulations and capacity design concept. Ratios of the link length to beam span ranged from 10% to 14%, which was within the category of shear links. The overall design is dominated by the constraint on the link's overstrength factor ratio. Design characteristics required by the design code, such as interstory drift and member strength ratios, were conservatively compared to the allowable values.

• Journal of Aerospace System Engineering
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• v.11 no.4
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• pp.36-43
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• 2017

Blade design optimization of QTP-UAV prop-rotor was conducted using ModelCenter(R). Performance efficiency of the blade in hover and forward flight were adopted as the multi-objective function. Required power and pitch link force applied to constraint in each flight mode and limited lower than the value of the baseline blade. Design variables of root chord length of the blade, taper ratio, twist slope, twist angle at 0.5R of the blade, anhedral angle, parabolic coefficient of a tip shape and location of airfoil were used to generate the blade planform. CAMRAD-II, the comprehensive analysis program of rotorcraft, was used for performance analysis of prop-rotor blade in design process. Performance of the optimized blade improved 1.6% of figure of merit in hover and 13.6% of propulsive efficiency in forward flight. Pitch link force also reduced approximately 30% less than that of the baseline blade.