• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.631-637
• /
• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.

• JSTS:Journal of Semiconductor Technology and Science
• /
• 제15권1호
• /
• pp.96-100
• /
• 2015

Adaptive background gain calibration loop for multi-lane serial links is proposed. In order to detect and cancel gain mismatches between lanes, a single digital loop using a ${\sum}{\Delta}$ ADC is employed, which provides a real-time adaptation of gain variations and is shared among all lanes to reduce power and area. Evaluation result showed that gain mismatches between lanes were well calibrated and tracked, resulting in timing budget at $10^{-6}$ BER increased from 0.261 UI to 0.363 UI with stable loop convergence.

• 한국정밀공학회지
• /
• 제13권2호
• /
• pp.146-158
• /
• 1996

This paper develops a robot arm for propeller blade grinding. The grinding work requires a high stiffness robot arm to reduce deformation and vibration which are generated during machining operation. Conventional articulated robots have serial connecting links from the base to the gripper. Thus, they have very weak structure to the stiffness for grinding operation. Stewart Platform is a typical parallel robotic mechanism with very high stiffness but it has small work space and large installation space. This research proposes a new grinding robot arm by combining parallel mechanism with serial mechanism. Therefore, the robot has large range of work space as well as high stiffness. This paper introduces the automatic system for propeller grinding utilizing the robot and the design of proposed robot arm.

• 제어로봇시스템학회논문지
• /
• 제13권4호
• /
• pp.320-328
• /
• 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.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2003년도 하계종합학술대회 논문집 II
• /
• pp.791-794
• /
• 2003

The increasing computational capability of processors is driving the need for high bandwidth links to communicate and store the information that is processed. Such links are often an important part of multi processor interconnection, processor-to-memory interfaces and Serial-network interfaces. This paper describes a 0.11-${\mu}{\textrm}{m}$ CMOS 4 Gbp s/pin 3-Level transceiver using RSL/(Rambus Signaling Logic) for high bandwidth. This system which uses a high-gain windowed integrating receiver with wide common-mode range which was designed in order to improve SNR when operating with the smaller input overdrive of 3-Level. For multi-gigabit/second application, the data rate is limited by Inter-Symbol Interference (ISI) caused by low pass effects of channel, process-limited on-chip clock frequency, and serial link distance. In order to detect the transmited 4Gbps/pin with 3-Level data sucessfully ,the receiver is designed using 3-stage sense amplifier. The proposed transceiver employes multi-level signaling (3-Level Pulse Amplitude Modulation) using clock multi phase, double data rate and Prbs patten generator. The transceiver shows data rate of 3.2 ~ 4.0 Gbps/pin with a 1GHz internal clock.

• 대한전자공학회논문지SD
• /
• 제44권2호
• /
• pp.19-24
• /
• 2007

최근 대용량 데이터 전송이 이루어지면서 하드웨어의 복잡성과 전력, 가격 등의 이유로 인하여 입력데이터와 클럭을 함께 수신 단으로 전송하는 병렬버스 기법보다는 시리얼 링크 기법이 메모리 인터페이스에 많이 사용되고 있다. 시리얼 링크 기법은 병렬버스 기법과는 달리 클럭을 제외한 데이터 정보만을 수신단으로 보내는 방식이다. 클럭 및 데이터 복원 회로(clock and data recovery 혹은 CDR)는 시리얼 링크의 핵심 블록으로, 본 논문에서는 그래픽 DRAM 인터페이스용의 5.4Gb/s half-rate bang-bang 클럭 및 데이터 복원회로를 설계하였다. 이 회로는 half-rate bang-bang 위상검출기, current-mirror 전하펌프, 이차 루프필터, 및 4단의 차동 링타입 VCO로 구성되었다. 위상 검출기의 내부에서 반 주기로 DeMUX된 데이터를 복원할 수 있게 하였고, 전체 회로의 용이한 검증을 위해 MUX를 연결하여, 수신된 데이터가 제대로 복원이 되는지를 확인하였다. 설계한 회로는 66㎚ CMOS 공정파라미터를 기반으로 설계 및 layout하였고, post-layout 시뮬레이션을 위해 5.4Gb/s의 $2^{13}-1$ PRBS 입력데이터를 사용하였다. 실제 PCB 환경의 유사 기생성분을 포함하여 시뮬레이션 한 결과, 10psRMS 클럭 지터 및 $40ps_{p-p}$ 복원된 데이터 지터 특성을 가지고, 1.8V 단일 전원전압으로부터 약 80mW 전력소모를 보인다.

• 제어로봇시스템학회논문지
• /
• 제18권8호
• /
• pp.731-737
• /
• 2012

In this paper the usage of Bluetooth in networked control systems is described. ACL links and commonly used serial port profile built on top of ACL links are analyzed and their problems such as unpredictable latency are discovered. SCO link packet scheduling, latency estimation and setup procedure are examined. SCO link is suggested as proper link for NCS, due to its low latency and low variance. Smith predictor use for latency compensation is described and its impact on control performance is estimated. A number of experiments on DC motor position control are performed and control performance of system utilizing SCO link with and without Smith predictor is proved to be higher than control performance of system utilizing ACL link.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제13권1호
• /
• pp.848-857
• /
• 2021

This paper proposes an efficient approach based on a machine learning technique to predict the local stresses on mooring chain links. Three-link and multi-link finite element analyses were conducted for a target chain link of D107 with steel grade R4; 24,000 and 8000 analyses were performed, respectively. Two serial Artificial Neural Network (ANN) models based on a deep multi-layer perceptron technique were developed. The first ANN model corresponds to multi-link analyses, where the input neurons were the tension force and angle and the output neurons were the interlink angles. The second ANN model corresponds to the three-link analyses with the input neurons of the tension force, interlink angle, and the local stress positions, and the output neurons of the local stress. The predicted local stresses for the untrained cases were reliable compared to the numerical simulation results.

• 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

• JSTS:Journal of Semiconductor Technology and Science
• /
• 제17권4호
• /
• pp.552-560
• /
• 2017

This paper presents a transceiver chipset realized in a $0.13-{\mu}m$ CMOS technology for serial digital interface of video data transmission, which compensates the electrical cable loss of 45 dB in maximum at 1.5 Gbps. For the purpose, the TX equips pre-emphasis in the main driver by utilizing a D-FF with clocks generated from a wide-range tuning PLL. In RX, two-stage continuous-time linear equalizers and a limiting amplifier are exploited as a front-end followed by a 1/8-rate CDR to retime the data with inherent 1:8 demultiplexing function. Measured results demonstrate data recovery from 270 Mbps to 1.5 Gbps. The TX consumes 104 mW from 1.2/3.3-V supplies and occupies the area of $1.485mm^2$, whereas the RX dissipate 133 mW from a 1.2-V supply and occupies the area of $1.44mm^2$.