• 한국기계연구소 소보
• /
• 통권19호
• /
• pp.81-92
• /
• 1989

This paper presents a simple identification method of the actual kinematic parameters for the robot with parallel joints. It is known that Denavit-Hartenberg's coordinate system is not useful for nearly parallel joints. In this paper, the coordinate frames are reassigned to model the kinematic parameter between nearly parallel joints by four parameters. The proposed identification method uses a straight ruler about 1m long. A robot hand is placed by using a teaching pendant at the prescribed points on the ruler, and corresponding error function is defined. The identified kinematic parameters which make the error function zero are obtained by iterative least square error method based on the singular value decomposition. In the compensation of joint angles, only the position is considered because the usual applications of robot do not require a precise orientation control.

• 한국운동역학회지
• /
• 제12권1호
• /
• pp.125-133
• /
• 2002

The purpose of this study was to develop a method for estimating 3-D coordinates of lower trunk muscles using orientation angles during a motion. Traditional 3-D motion analysis system with DLT technique was used to track down the locations of eight reference markers which were attached on the back of the subject. In order to estimate the orientations of individual lumbar vertebrae and musculoskeletal parameters of the lower trunk muscle, the rotation matrix of the middle trunk reference frame relative to the lower trunk reference frame was determined and the angular locations of individual lumbar vertebrae were estimated by partitioning the orientation angles (Cardan angles) that represent the relative angles between the rotations of the middle and lower trunks. When the orientation angles of individual intervertebral joints were known at a given instant, the instantaneous coordinates of the origin and insertion for all selected muscles relative to the L5 local reference frame were obtained by applying the transformation matrix to the original coordinates which were relative to a local reference frame (S1, L4, L3, L2, or L1) in a rotation sequence about the Z-, X- and Y-axes. The multiplication of transformation matrices was performed to estimate the geometry and kinematics of all selected muscles. The time histories of the 3-D coordinates of the origin and insertion of all selected muscles relative to the center of the L4-L5 motion segment were determined for each trial.

• 한국지반공학회:학술대회논문집
• /
• 한국지반공학회 1999년도 가을 학술발표회 논문집
• /
• pp.147-152
• /
• 1999

Distribution of fracture system is an important factor to analyse instability of jointed rock slope. In the most case of rock slopes, joint distribution properties are related to potential, shape, size and locality of slope failure. The purpose of this paper is to present an application of fracture characterization related to rock slope failure. Fracture data used in this study are collected by scanline survey. Two aspects of fracture characterization for rock slope are handled in this study First, In order to determine the potential and shape of slope failure, trace length of joints is considered as the weighting factor about collected orientation data. Second, Relationship between trace length and spacing is analysed to estimate failure location and size. The distribution of fracture system is directly influenced on wedge failure. It is effective to analyse the orientation of fractures by using weighting factors associated with the trace length of fractures rather than to analyse only that of fractures. It gives a conclusion that the wedge failure occurred along the peak of fracture density(or intensity) cycles.

• 한국지반공학회:학술대회논문집
• /
• 한국지반공학회 2009년도 춘계 학술발표회
• /
• pp.595-606
• /
• 2009

This paper presents the characteristics of stress transfer around carven due to cavern size and rock joint properties by laboratory model test. In order to perform this study, eight different scaled model tests were carried out according to excavation stage. The limited numerical analysis were also performed to verify the model test results. The amount of stress transfer around the cavern is increased and then decreased by longitudinal arching effect according to tunnel excavation. It is founded that the stress developed around the cavern during excavation is increased when the cavern size and joint orientation are increased. It is also investigated that shear behaviour (such as stress, deformation) developed around cavern is considerably depended on the characteristic of fill material, dip and direction of joints. It is suggested that the behaviour will be verified throughout the 3D numerical prediction.

• 제어로봇시스템학회논문지
• /
• 제7권1호
• /
• pp.1178-1186
• /
• 2001

This paper presents design and analysis of a 6 degree-of-freedom new haptic device using a par-allel mechanism for interfacing with virtual reality. The mechanism is composed of three pantograph mecha-misms that, driven by ground-fixed servomotors. stand perpendicularly to the base plate. Three spherical joints connect the top of the pantograph with connecting bars, and three revolute joint connect connecting bars with a mobile joystick handle. Forward and inverse kinematic analyses have been performed and the Jacobian matrix is derived by using the screw theroy. Performance indices such as GPI(Global Payload Index), GCI(Global Conditioning index), Traslation and Orientation workspaces, and Sensitivity are evaluated to find optimal pa-rameters in the design stage. The proposed haptic mechanism has better load capability than those of the ex-isting haptic mechanisms due to the fact that motors are fixed at the base. It has also wider orientation work-space mainly due to RRR type spherical joints.

• 지질공학
• /
• 제9권2호
• /
• pp.119-134
• /
• 1999

모량단층 주변에 발달하고 있는 절리의 분포상태를 알아보기 위해 횡단법(橫斷法)과 재고법(在庫法)을 이용하여 절리의 배향, 간격, 밀도 등을 조사하였다. 횡단법에 의한 조사에 의하면 연구지역에서 가장 우세방향의 절리조는 NNE와 EW방향으로 나타나며, 이들 절리들의 간격분포는 단층의 중심부에서 음의 지수분포, 단층에서 먼 지점에서 대수-정규 분포를 보여준다. 재고법의 조사결과에 의하면 각 절리도(節理圖)상에서 우세한 절리조의 방향은 NW와 NE방향이며, 절리밀도는 단층의 중심부로 가까워질 수록 높게 나타난다. 또한 연구지역에서 발달하고 있는 절리망에 대해 박스카운팅법과 캔터의 먼지법을 이용하여 프랙탈 차원을 구하여 정량화시키고 단층주변에서의 분포양상을 살펴보았다. 박스카운팅법에 의해 구한 프랙탈 차원은 1.31~l.70의 범위를 보여주며, 단층의 중심부에 가까워질수록 높게 나타난다. 그리고 박스카운팅법에 의해 구한 프랙탈 차원과 절리밀도를 비교해보면 이들은 서로 비례 관계에 있으나 프랙탈 차원은 동일 밀도지역에서 절리의 분포상태에 따라 달라질 수 있다. 캔터의 먼지법에 의해 구한 프랙탈 차원은 설치하는 측선의 방향에 따라 다양하게 나타나며 이는 절리의 분포가 이방성을 나타냄을 보여준다.

• 대한기계학회논문집A
• /
• 제37권6호
• /
• pp.775-782
• /
• 2013

본 연구에서는 마찰교반용접재의 피로균열전파 거동의 공간적 불규칙성을 고찰하기 위한 연구의 일환으로써, 최적의 조건에서 마찰교반용접된 7075-T651 알루미늄 합금 용접부의 LT-방향의 각각 5개의 피로균열전파 시험편에 대하여 일정 응력확대계수범위 제어하의 피로균열전파 실험을 수행하여 마찰교반용접부의 교반용접부재(WM)와 열영향부재(HAZ) 그리고 모재(BM)에 대한 피로균열전파 거동을 실험적으로 고찰하였다. WM재의 피로균열전파율이 가장 빠르게 나타났으며, 그 다음 HAZ재와 WM재 순으로 나타났다. 게다가 시험편간 피로균열전파율의 변동성은 WM시험편에서 가장 높았고, 반면 BM재에서 가장 낮게 나타났다.

• 터널과지하공간
• /
• 제24권1호
• /
• pp.55-66
• /
• 2014

본 연구에서는 절리구조의 기하학적 특성을 분석하기 위해 사진측량기법을 효율적으로 현장에 적용하기 위한 절리조사 시스템을 개발하였다. 개발된 시스템은 하드웨어와 해석 소프트웨어로 구성된다. 하드웨어는 암반 절리구조의 영상촬영을 위한 영상 촬영 시스템, 카메라의 촬영방향과 높이를 제어하는 촬영방향 제어 시스템, 그리고 카메라 매개변수 중 회전각 성분을 측정하기 위한 디지털 컴퍼스로 구성되었다. 해석 소프트웨어는 사진촬영을 통해 얻어진 이미지 자료로부터 절리의 방향성, 밀도 및 평균 길이를 분석하기 위해 개발하였으며 JointeXtractor로 명명하였다. 개발된 시스템을 암반 상부와 수목이나 낙석방지 울타리의 설치로 인해 접근이 어려운 지역 등 수작업 조사자가 측정할 수 없는 경우의 현장에 적용한 결과 절리의 방향성 및 밀도, 평균 길이를 정량적으로 분석할 수 있었다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1396-1401
• /
• 2004

In recent years, robot has been used widely in industrial field and has been expanded as a result of continous research and development for high-speed and miniaturization. The goal of this paper is to design the special serial manipulator through the understanding of the structure, mobility, and analysis of serial manipulator. Thereafter we control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints. Typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily by AC servomotor that is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of 3D end-effector model made by OpenGL can be displayed on the monitor program simultaneously

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.2000-2003
• /
• 2003

In recent years, robots have been used widely in industrial field and have been expanded as a result of continuous research and development for high-speed and miniaturization. The goal of this paper is to design the serial manipulator through kinematic analysis and to control the position and orientation of end-effector with respect to time. In general, a structure of industrial robot consists of several links connected in series by various types of joints, typically revolute and prismatic joints. The movement of these joints is determined in inverse kinematic analysis. Compared to the complicated structure of parallel and hybrid robot, open loop system retains the characteristic that each link is independent and is controlled easily. AC servo motor is used to place the robot end-effector toward the accurate point with the desired speed and power while it is operated by position control algorithm. The robot end-effector should trace the given trajectory within the appropriate time. The trajectory of end-effector can be displayed on the monitor of general personal computer through Opengl program.