• 한국정밀공학회지
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• 제16권5호통권98호
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• pp.200-208
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• 1999

The statics relation of the Stewart platform has been investigated from the viewpoint of the forward and inverse force transmission analyses. Two eigenvalue problems corresponding to the forward and inverse force transmission analyses have been formulated. The forward force transmission analysis is to determine the ranges of the magnitudes of the force and moment generated at the end-effector for the given magnitude of linear actuator forces. In reverse order, the inverse force transmission analysis is to find the range of the magnitude of actuator forces for the given ranges of the magnitudes of the force and moment at the end-effector. The inverse force transmission analysis is important since it can provide a designer with a valuable information about how to choose the linear actuators. It has been proved that two eigenvalue problems have a reciprocal relation, which implies that solving either of the eigenvalue problems may complete the forward/inverse force transmission analysis. A numerical example has been also presented.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.648-653
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• 2015

The kinematics with the instantaneous motion and statics of a manipulator has generally been proven algebraically. The algebraic solutions give very simple and straightforward results but the solutions do not have any meaning in physics or geometry. Therefore it is not easy to extend the algebraic results to design or control a robotic manipulator efficiently. Recently, geometrical approach to define the instantaneous motion or static relation of a manipulator is popularly researched and the results have very strong advantages to have a physical insight in the solution. In this paper, the instantaneous motion and static relation of a planar manipulator are described by geometrical approach, specifically by an axis screw and a line screw. The mass center of a triangle with weight and a perpendicular distance between the two screws are useful geometric measures for geometric analysis. This study provides a geometric interpretation of the kinematics and statics of a planar manipulator, and the method can be applied to design or control procedure from the geometric information in the equations.

• 한국학교ㆍ지역보건교육학회지
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• 제15권1호
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• pp.121-140
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• 2014

Objectives: Recently, the rate of death by chronic disease, is increasing steadily. To prevent this, the public health center will have taken a leading role in the local community medical business through an establish to the national health promotion act and an amendment to the law of public health center in Korea. Results: Accordingly this research, using the Pender's health promotion model which is related with subject health behavior who government employees serve at the public health center have taken important position in the local community health promotion, have comprehended the actual condition of health behavior. For increasing the health behavior practice of subject to comprehend the factor which have effect on health behavior practice, which can be a correct role model in the local community health promotion. A survey was performed on 406 government employees who serve at five public health centers in Seoul. The period of survey was from 25th October, 2010 to 15th November, 2010. The results of this study were summarized as below. 1. Work-related stress, perceptible beneficial obstacle, and self-efficacy were composed by 5 points measure. The results show those work-related stress were $3.06{\pm}0.469$, 74perceptible beneficial obstacle were $3.74{\pm}0.471$, and self-efficacy were $3.49{\pm}0.469$. 2. As for the health behavior by general characteristic, the results have specific differences on age, education level, state of marriage, rank of the position, field of the occupation and employment forms in statics analysis. 3. As for the past health behavior by health behavior characteristic, work-related stress have specific differences on the past frequency of drinking (p<.05) in statics analysis, perceptible beneficial obstacle have specific differences on the past frequency of having breakfast(p<.05), having snacks(p<.05) and doing exercise(p<.05) in statics analysis. Self-efficacy have specific difference on the past frequency drinking(p<.01) in statics analysis. 4. According to the correlation between the factors related with health behavior and health behavior, the health behavior have specific differences on perceptible health condition(p<.01), the past health behavior and perceptible beneficial obstacle(p<.05). Work-related stress and self-efficacy don't have specific relation in health behavior practice. 5. The factors, which effect on health behavior practice have specific differences on the past health behavior, employment forms and field of the occupations. The ability of explanation occupied 54.8% what explained of the health behavior practice by general characteristic, perceptible health condition, employment forms and perceptible beneficial obstacle. Conclusions: According to the correlation between the factors related with health behavior, the health behavior have specific differences on perceptible health condition(p<.01), the past health behavior and perceptible beneficial obstacle(p<.05). The factors, which effect on health behavior practice have specific differences on the past health behavior, employment forms and field of the occupations.

• 한국산업융합학회 논문집
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• 제22권3호
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• pp.315-324
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• 2019

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.573-578
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• 2004

This paper presents a methodology for the stiffness analysis of a low-DOF parallel manipulator. A low-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees of freedom. The reciprocal screws of actuations and constraints in each leg can be determined by making use of the theory of reciprocal screws, which provide information about reaction forces due to actuations and constraints. When pure force is applied to a leg, the leg stiffness is modeled as a linear spring along the line. For pure couple, it is modeled as a rotational spring about the axis. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to actuations and 6-F springs related to constraints connected from the moving platform to the base in parallel. The $6{\times}6$ Cartesian stiffness matrix is obtained, which is the sum of the Cartesian stiffness matrices of actuations and constraints. Finally, a 3-UPU parallel manipulator is used as an example to demonstrate the methodology.

• 대한기계학회논문집A
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• 제29권5호
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• pp.680-688
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• 2005

This paper presents a methodology for the stiffness analysis of a low-DOF parallel manipulator. A low-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees of freedom. The reciprocal screws of actuations and constraints in each leg can be determined by making use of the theory of reciprocal screws, which provide information about reaction forces due to actuations and constraints. When pure farce is applied to a leg, the leg stiffness is modeled as a linear spring along the line. For pure couple, it is modeled as a rotational spring about the axis. It is shown that the stiffness model of an it_DOF parallel nipulator consists of F springs related to actuations and 6-F springs related to constraints connected from the moving platform to the base in parallel. The 6x f Cartesian stiffness matrix is derived, which is the sum of the Cartesian stiffness matrices of actuations and constraints. Finally, the 3-UPU, 3-PRRR, and Tricept parallel manipulators are used as examples to demonstrate the methodology.

• 대한인간공학회지
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• 제23권2호
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• pp.37-54
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• 2004

Fuzzy theory provides an intelligence treatment model for judgement about information when it needs a solution or a decision making about vague problems. Therefore, fuzzy theory is used for appropriate evaluation and decision on obscure information as human's emotion in human factors, In previous study, fuzzy membership function is defined for judgement infOlmation as human's emotion then ultimate results are deducted through fuzzy inference model. This method uses general CWTent through literature review or max, min and average as representative statics value about considering variables. But, this method makes away with nonlinear's or inegular's factors of human sensibility. Accordingly, application of this method leads to considerable loss of information in the ultimate evaluation. For that reason, this method has a limitation in objective evaluation of human factors. So, this study focuses on development of fuzzy membership function, which evaluates human's emotion or feeling accurately and objectively. We used the regression analysis and reasoned a fuzzy membership function about the relation of the variables. Then we verified the adequacy with the reliability through the experiment after this.

• 복식
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• 제20권
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• pp.125-135
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• 1993

The purposes of this research are firstly to define the characteristics of movement on the costume, secondly to demonstrate that fine art, expecially in relation to kinetic art, has become a good motif in modern costume de-sign, and thirdly to examin the characteristics of movement as shown in modern costume de-sign. For this study, we selected and analyzed some costume designs among those introduced in fashion magazines, which are Collections, Fashion-Preview, Fashion Show, Collezioni, and L'Officiel that have been issued since 1988. As this research is carried out only through the analysis of pictures, it is not ac-companied by a study on material itself. The result of this study is that the ex-pression of movement on modern fashion can be shown in two ways, one is the inclusive and subordinate movement expressed on the cloth-ing according to the motion of body when they are worn, and the other is the movement caused by the very designs of clothing. And the latter can be also divided in two ways, the illusionistic movement and the actual move-ment. The expression of actual movement is made through the emphasis of direction, rhythm, and dimension of the costume. And the illusionistic movement is expressed by the de-sign to which the textile pattern or reflection of light is applied so that the movement is larger than the actual movement. A sense of direction expressed on the cos-tume by the actual movement creates a light rhythm and adds interest to the costume. This reflects a part of psychology of modern men who are not accustomed to the statics. In the rapidly changing society of information our modern men seek after movement even in the statics. It is also true in the clothing and they seem to get a psychological rest through the immediated visual change as shown in fashion design. The simple and cheerful rhythm expressed by the illusionistic movement on the costume is attempted in order to overcome the static tediousness caused by simple design. These elements of movement cause the en-largement of visible range and create another enlarged shape other than the real one, so that they come to remove the dullness and monot-ony in costume design and provoke interest in costume, as if kinetic art reveals the various aspects that transcend the closed area of fine art upon the motif of 'movement'. finally, as this paper deals with the ex-pression of movement as shown in the costume design which prevailed after 1988, it is desir-able hereafter to study more about the fashion since 1950 when kinetic art began in earnest, along with the comparative study on the ex-pression of movement in our Korean designer's and foreign designer's works.

• 벤처창업연구
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• 제9권5호
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• pp.83-94
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• 2014

본 연구는 최근 들어 가속화되고 있는 글로벌화와 인소싱(Insourcing)에 주력 기업들이 조직의 핵심역량강화를 목표로 도입하고 있는 아웃소싱(Outsourcing)을 분석하는데 목적이 있다. 특히 국내기업의 경우 자원의 해외조달, 높은 인건비의 상승, 부동산 가격의 급증 등 경영환경 변화에 대한 능동적 대처와 유력한 분야나 핵심역량에 자원을 집중시키기 위하여 아웃소싱을 실시하고 있다. 아웃소싱은 기업이 당면한 문제를 효율적으로 처리할 수 있고 핵심역량 이 외의 분야를 위탁 처리할 수 있어 기업의 경쟁력 확대가 가능하다. 이러한 변화 속에서 아웃소싱은 전문성을 확보할 수 있으며 고객의 니즈(Needs)를 충족할 수 있는 방법의 하나로 효율성과 경쟁력 확보 수단으로 활용되고 있다. 최근에는 대기업뿐 만아니라 중소기업 및 정부에서도 시장의 경쟁력 확보 수단으로 활용범위가 넓어지고 있다. 이와 같은 아웃소싱 시장의 흐름은 선진국에서부터 시작되었으나, 우리나라와 경영환경이 비슷한 일본의 경우 글로벌 아웃소싱의 시장규모가 급속하게 성장하고 있는 추세에 있다. 이에 본 연구는 기업의 경쟁력 강화를 위하여 추구하고 있는 경영형태인 아웃소싱에 대하여 아웃소싱을 운영하고 있는 업체를 주 대상으로 아웃소싱이 기업성과에 미치는 영향에 대하여 실증 분석함으로써 시사점을 제시하고자 한다.

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