• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2331-2336
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• 2005

This paper proposes a new haptic device using a parallel mechanism with gimbal type actuators. This device has three legs actuated by 2-DOF gimbal mechanisms, which make the device simple and light by fixing all the actuators to the base. Three extra sensors are placed at passive joints to obtain a unique solution of the forward kinematics problem. The proposed haptic device is developed for an operator to use it on a desktop in due consideration of the size of an average Korean. The proposed haptic device has a small workspace for on operator to use it on a desktop and more sensitivity than a serial type haptic device. Therefore, the motors of the proposed haptic device are fixed at the base plate so that the proposed haptic device has a better dynamic bandwidth due to a low moving inertia. With this conceptual design, optimization of the design parameters is carried out. The objective function is defined by the fuzzy minimum of the global design indices, global force/moment isotropy index, global force/moment payload index, and workspace. Each global index is calculated by a SVD (singular value decomposition) of the force and moment parts of the jacobian matrix. Division of the jacobian matrix assures a consistency of the units in the matrix. Due to the nonlinearity of this objective function, Genetic algorithms are adopted for a global optimization.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.8
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• pp.475-481
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• 2005

In the existing ICT technique, the mounted electronic devices on the printed circuit board are tested whether the devices are good or not by comparing and measuring the value of the devices after separating the devices to be tested from around it based on the guarding method. But, in case that resistance, inductor and capacitor are configured as a parallel circuit on the circuit pattern, values for each device can not be measured because the total impedance value of the parallel circuit is measured. Accordingly, it is impossible to test whether the parallel circuit is good or not in case that the measured impedance value is within the tolerance error. Also, it is difficult to identify that which device among R, L and C of the parallel circuit is bad in case that the measured impedance value is out of the tolerance error. Accordingly, this paper proposes a test method which can enhance the quality and productivity by separating and measuring accurately R, L and C components from the RLC parallel circuits on the device-mounted printed circuit board. First, the RLC parallel circuit to be test is separated electrically from around it using three-terminal guarding technique. And then R, L and C values are computed based on the total impedance values and phase angles between voltage and current of the parallel circuit measured from two AC input signals with other frequency, Finally, the availability and accuracy of the proposed test method is verified by reviewing the simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.160-167
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• 2001

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

• Proceedings of the KIPE Conference
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• 2003.07a
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• pp.115-120
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• 2003

In a motor driving, the current rate is directly related to the rate of a switching device and in cost reduction, the parallel switching operation is the alternatives because it has the smaller current rate through current division. There are many investigations for the parallel switching operations to equaling the current division. However it remains many problems for practical usage. The reason is that the switching characteristics are mainly relied on the different saturation voltage of each device etc. and these factors are not altered by circuit designer. In order to compensate this problem, a proper resistance is experimently inserted to the switching device. But this method can not be the optimal solution. Therefore this paper proposes a new parallel operation which uses a parallel phase winding to remove the traditional effect of switching device such as saturation voltage according to the division of current. Also the reliable and stable driving is improved through experiments and the detailed principles.

• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.24-28
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• 2002

In a motor driving, the current rate is directly related to the rate of a switching device and in cost reduction, the parallel switching operation is the alternatives because it has the smaller current rate through current division. There are many investigations for the parallel switching operations to equaling the current division. However it remains many problems for practical usage. The reason is that the switching characteristics are mainly relied on the different saturation voltage of each device etc. and these factors are not altered by a circuit designer. In order to compensate this problem, a proper resistance is experimently inserted to the switching device. But this method can not be the optimal solution. Therefore this paper proposes a new parallel operation which uses a parallel phase winding to remove the traditional effect of switching device such as saturation voltage according to the division of current. Also the reliable and stable driving is improved through experiments and the detailed principles.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2002.05a
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• pp.141-148
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• 2002

In a motor driving, the current rate is directly related to the rate of a switching device and in cost reduction, the parallel switching operation is the alternatives because it has the smaller current rate through current division. There are many investigations for the parallel switching operations to equaling the current division. However it remains many problems for practical usage. The reason is that the switching characteristics are mainly relied on the different saturation voltage of each device etc. and these factors are not altered by circuit designer. In order to compensate this problem, a proper resistance is experimently inserted to the switching device. But this method can not be the optimal solution. Therefore this paper proposes a new parallel operation which uses a parallel phase winding to remove the traditional effect of switching device such as saturation voltage according to the division of current. Also the reliable and stable driving is improved through experiments and the detailed principles.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1494-1499
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• 2003

Kinematic calibration is a process whereby the actual values of geometric parameters are estimated so as to minimize the error in absolute positioning. Measuring all components of Cartesian posture, particularly the orientation, can be difficult. With partial pose measurements, all parameters may not be identifiable. This paper proposes a new device that can be used to identify all kinematic parameters with partial pose measurements. Study is performed for a six degree-of-freedom fully parallel Hexa Slide manipulator. The device, however, is general and can be used for other parallel manipulators. The proposed device consists of a link with U joints on both sides and is equipped with a rotary sensor and a biaxial inclinometer. When attached between the base and the mobile platform, the device restricts the end-effector's motion to five degree-of-freedom and can measure position of the end-effector and one of its rotations. Numerical analyses of the identification Jacobian reveal that all parameters are identifiable. Computer simulations show that the identification is robust for the errors in the initial guess and the measurement noise.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.397-401
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• 1997

An error analysis is very important for a precision machine to estimate its performances. This study deals with error of a new parallel device, cubic parallel manipulator. There are so many error sources in this mechanism. Errors of the cubic parallel device vary depending on the stiffness of the manipulator. The stiffness of each link depends on the directions of the link and actuation force. In this paper, the stiffness of the manipulator is calculated by ARAQUS and the position and orlentation errors are predicted within a given workspace. The analysis shows that the method can be used in predicting the accuracy of other parallel devices and in designing parallel devices.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.699-702
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• 2000

In order to use a parallel device fur machine tool feed mechanism, it is very important to analyze its stiffness over the workspace. Generally, the stiffness of a rod varies with its length. In this paper, the stiffness of the leg is modeled as a linear function. With the linear stiffness model, the methods that can determine stiffness bounds and max/min stiffness directions are presented utilizing eigenvalues and eigenvectors of the stiffness matrix. The stiffness variation along a tool-path and stiffness mapping over a workspace are presented with cubic-shaped parallel device which is originally designed for machine tool feed mechanism.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.17 no.5
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• pp.536-540
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• 2004

A novel nematic liquid crystal (LC) cell with splay structure exhibiting wide viewing angle, fast response time and high transmittance at the same time has been developed. With rubbed homeotropic alignment in parallel directions, the device shows bend alignment in the absence of vertical electric field. However, with applied high voltage in a pulse form, the LC shows a optically compensated splay (OCS) orientation such that the mid-director is parallel to a substrate and at both surfaces the LCs are aligned vertically in parallel direction. In the device, the birefringence of the cell becomes tunable with applying voltage, i.e., the amount of light passed through the cell can be controlled by controlling the orientation of the LC. Since the OCS cell has a self-compensation structure such that the LC has a mirror symmetry along the mid-director, the device shows a wide viewing angle with only a single domain and a fast response time.