• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.11-18
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• 2017

Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.

• Journal of the Korean Statistical Society
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• v.9 no.2
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• pp.145-172
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• 1980

Draper and Lawrence (1965a) have given mixture designs for three factors when all the mixture components can vary on the entire factor space so that the region of interest is an equilateral triangle in two dimensions. In this paper their work is extended to the cases when the region of interest is an echelon, parallelogram, pentagon or hexagon, because of the restirctions imposed on some or all of the mixture components. The principles used in the choice of appropriate designs are those originally introduced by Box and Draper(1959). It is assumed that a response surface equation of first order is fitted, but there is a possibility of bias error due to presence of second order terms in the true model. Minimum bias designs for several cases of restricted regions of interest are illustrated.

• Transactions of the Korean Society of Mechanical Engineers
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• v.13 no.5
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• pp.855-861
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• 1989

An inertia redistribution technique for liberalizing and reducing the complexity of manipulator dynamics with a parallel drive mechanism is presented in this paper. The dynamic design method is based on eliminating nonlinear terms, such as Coriolis, centrifugal and gravity torque in the kinetic and the potential energy of a manipulator. A set of design criteria regarding the inertia properties of links is derived. The resulting manipulator dynamics can be greatly simplified for each robot. This paper particularly presents that it is possible to completely linearize the manipulator dynamics with a parallel drive mechanism.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.86.3-86
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• 2001

Hall effect sensor using 7um, 1.7 ohm-cm or 10um, 3.5 ohm-cm Bipolar process was successfully developed. The Hall sensor consists of various patterns, such as regular shapes, rectangles, diamond, hexagon and cross shapes to optimize offset voltage and sensitivity for proper applications. In order to measure offset voltage in chip scale the Agilent company´s 4156C and Nano-Voltage Meter were used and the best structure in offset voltage was finally selected by using ceramic package. The patterns appear to be the quadri-rectangular patterns entirely and three-parallelogram patterns. The measured offset voltages were found to be about 173-365uV. Meanwhile, in ...

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.325-335
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• 2019

In this paper, a novel adaptive gripper with underactuation is presented, which can change its configuration to parallel or power grip mode according to object shapes. Differently from the commercial adaptive gripper by RobotiQ, the proposed gripper includes an actual parallelogram inside a five-bar mechanism, which allows the free selection of actuator locations and can reduce actuation torques effectively. The forward and inverse kinematics for two grip modes and statics analysis have been analyzed. From the comparative design, the proposed gripper has about 20% smaller size, 3.7% larger stroke, and 30.5% smaller average actuation torque than the commercial one.

• Journal of applied mathematics & informatics
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• v.39 no.3_4
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• pp.469-485
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• 2021

In this paper, some new classes of the higher order strongly exponentially preinvex functions are introduced. New relationships among various concepts of higher order strongly exponentially preinvex functions are established. It is shown that the optimality conditions of differentiable higher order strongly exponentially preinvex functions can be characterized by exponentially variational-like inequalities. Parallelogram laws for Banach spaces are obtained as an application. As special cases, one can obtain various new and known results from our results. Results obtained in this paper can be viewed as refinement and improvement of previously known results.

• Journal of Educational Research in Mathematics
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• v.23 no.2
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• pp.253-267
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• 2013

The newly revised mathematics curriculum of 2007 speaks of ultimate goal to develop ability to think and communicate mathematically, in order to develop ability to rationally deal with problems arising from the life around, which puts emphasize on mathematical communication. In this study, analysis on mathematical communication and analogical thinking process of group of students with similar level of academic achievement and that with different level, and thus analyzed if such communication has affected analogical thinking process in any way. This study contains following subjects: 1. Forms of mathematical communication took placed at the two groups based on achievement level were analyzed. 2. Analogical thinking process was observed through trapezoid's area obtaining activity and analyzed if communication within groups has affected such process anyhow. A framework to analyze analogical thinking process was developed with reference of problem solving procedure based on analogy, suggested by Rattermann(1997). 15 from 24 students of year 5 form of N elementary school at Gunpo Uiwang, Syeonggi-do, were selected and 3 groups (group A, B and C) of students sharing the same achievement level and 2 groups (group D and E) of different level were made. The students were led to obtain areas of parallelogram and trapezoid for twice, and communication process and analogical thinking process was observed, recorded and analyzed. The results of this study are as follow: 1. The more significant mathematical communication was observed at groups sharing medium and low level of achievement than other groups. 2. Despite of individual and group differences, there is overall improvement in students' analogical thinking: activities of obtaining areas of parallelogram and trapezoid showed that discussion within subgroups could induce analogical thinking thus expand students' analogical thinking stage.

• East Asian mathematical journal
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• v.31 no.4
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• pp.459-481
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• 2015

In this study, we investigated whether the theorem is established even if we replace a 'square' element in the Euclidean proof of the Pythagorean theorem with different figures. At this time, we used different figures as equilateral, isosceles triangle, (mutant) a right triangle, a rectangle, a parallelogram, and any similar figures. Pythagorean theorem implies a relationship between the three sides of a right triangle. However, the procedure of Euclidean proof is discussed in relation between the areas of the square, which each edge is the length of each side of a right triangle. In this study, according to the attached figures, we found that the Pythagorean theorem appears in the following three cases, that is, the relationship between the sides, the relationship between the areas, and one case that do not appear in the previous two cases directly. In addition, we recognized the efficiency of Euclidean proof attached the square. This proving activity requires a mathematical process, and a generalization of this process is a good material that can experience the diversity and rigor at the same time.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.48-54
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• 2020

Home robot arms require a payload of 2 kg to perform various household tasks; at the same time, they should be operated by low-capacity motors and low-cost speed reducers to ensure reasonable product cost. Furthermore, as robot arms on mobile platforms are battery-driven, their energy efficiency should be very high. To satisfy these requirements, we designed a lightweight counterbalance mechanism (CBM) based on a spring and a wire and developed a home robot arm with five degrees of freedom (DOF) based on this CBM. The CBM compensates for gravitational torques applied to the two pitch joints that are most affected by the robot's weight. The developed counterbalance robot adopts a belt-pulley based parallelogram mechanism for 2-DOF gravity compensation. Experiments using this robot demonstrate that the CBM allows the robot to meet the above-mentioned requirements, even with low-capacity motors and speed reducers.

• Journal of Korea Multimedia Society
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• v.20 no.12
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• pp.1890-1900
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• 2017

Tangram game consists of seven pieces of polygons such as triangle, square, and parallelogram. Typical methods of image processing for object recognition may suffer from the existence of side thickness and shadow of the puzzle pieces that are dependent on the pose of 3D-shaped puzzle pieces and the direction of light sources. In this paper, we propose an image processing method that recognizes simple convex polygon-shaped objects irrespective of thickness and pose of puzzle objects. Our key algorithm to remove the thick side of piece of puzzle objects is based on morphological operations followed by logical operations with edge image and background image. By using the proposed object recognition method, we are able to implement a stable tangram game applications designed for tablet computers with front camera. As the experimental results, recognition rate is about 86 percent and recognition time is about 1ms on average. It shows the proposed algorithm is fast and accurate to recognize tangram blocks.