• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.211-214
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• 2000

An error analysis is very important for a precision machine tool to estimate its performance. This study proposes a new parallel device, a cubic parallel manipulator. Errors of the proposed cubic parallel manipulator include universal joint errors, errors occurring due to changes in the fore directions in the links, and actuation errors. An error analysis is performed for the manipulator platform moving at uniform velocity. The analysis shows how the position and orientation of the platform influences the directional link forces that change the errors in the manipulator. The analysis shows that the method can be used in predicting the accuracy of parallel devices.

• The Journal of the Convergence on Culture Technology
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• v.6 no.1
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• pp.515-520
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• 2020

The design and actual implementation of the four-bar parallel link was studied in the paper. The parallel four-section link is widely used as a basic kinematic mechanism for transmitting the rotation of one axis to the rotational motion of the other axis. However, the parallel 4 link has a problem that phase reversal occurs at the turning point during the movement. In order to prevent the link reversal, it is known that a double parallelogram-type link is formed by attaching an additional phase reversal suppression link with an offset. However, as a result of the actual fabrication experiment, the movement is not smooth at the transition point. In order to solve this problem, in this study, a link for smooth movement is added in addition to a link that provides an offset to prevent phase reversal, so that the phase reversal does not occur at a specific point when the driven shaft rotates along the drive shaft. The test result confirms the validity of our suggestion.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.525-527
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• 1994

A quasi parallel resonant do-link (QPRDCL) circuit with improved PWM capability is Proposed for tile zero voltage switching (ZVS) three phase PWM inverter. The peak voltage stresses of switches are all clamped to the dc-link voltage $V_d$. The proposed QPRDCL inverter has highly improved PWM capability due to selecting the on/off instants of the resonant link at will. Operational principles and analyses of the proposed QPRDCL circuit are explained and verified by simulation results.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2001.06a
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• pp.97-100
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• 2001

This paper introduces that it minimizes interference between links at high speed trajectory tracking of 2-degree parallel link robot. And in spite of system uncertainty, it introduces controller design method which is satisfied with performance specification. To do these, we separate two channels from parallel link robot through ICD(Individual Channel Design) and design controller of each channel using QFT(Quantitative Feedback Theory). Finally, we make sure of robustness and excellence of QFT control1er through simulation and experiment.

• 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 IKEEE
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• v.23 no.1
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• pp.99-106
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• 2019

This paper propose a new form of UPQC (Unified Power Quality Compensator) to compensate the current and voltage quality problems of nonlinear loads. The conventional UPQC system consists of a series inverter, a parallel inverter, and a common DC link. A new type of UPQC proposed is a parallel compensator with SVC (Static Var Compensator) added to compensate for the wide compensation range and low DC link voltage. The parallel inverter compensates the reactive power generated by the nonlinear load, and the series inverter compensates the sag and swell generated at the power supply side.

• The Transactions of the Korean Institute of Power Electronics
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• v.26 no.3
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• pp.205-213
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• 2021

Due to the advantage of reducing the voltage applied to the switch semiconductor, the input series and output parallel combination is widely used in systems with high input voltage and large output current. On the other hand, the LLC converter is widely used as a high-efficiency power converter, and when connected by ISOP combination, there is a possibility that input voltage imbalance may occur due to a mismatch of passive devices. To avoid damaging the switching device, this study analyzed the DC-link voltage imbalance of a high-capacity supply using an ISOP LLC converter. In addition, the case where DC-link unbalance control was applied and the case not applied was analyzed respectively. Based on this analysis, an initial start-up algorithm was proposed to prevent input power semiconductor device damage due to DC-link over-voltage. The effectiveness of the proposed algorithm has been verified through simulations and experiments.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.429-431
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• 1994

A parallel resonant dc link inverter, one of the many resonant inverters, has some superior characteristics in camparision with other resonant inverters. But loss of the resonant oscillation and occurrence of high peak voltage in the resonant capacitor of these inverters are serious problems. In this paper, we investigate a control method for resonant dc link inverters which can overcome these problems. Experimental results are presented to show superior operation of the resonant dc link inverter using the proposed control method.

• Proceedings of the KIEE Conference
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• 1996.11a
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• pp.350-352
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• 1996

A Hight Efficiency Quasi-Parallel Resonant DC-Link Inverter which shows highly improved PWM capability, low loss characteristic and low voltage stress is presented. A method to minimize freewheeling interval, which is able to largely decrease DC-link operation losses and to steadily guarantee soft switching in the wide operation region is proposed. Analysis and simple experiments were performed to verify validity of the proposed inverter topology.