• 한국정밀공학회지
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• 제26권10호
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• pp.56-64
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• 2009

This paper presents a parallel typed walking robot which can walk in omni-direction and climb from a floor to a wall. We design a six D.O.F leg mechanism composed of three legs, which form a parallel mechanism with a base and a ground to generate arbitrary poses. Optimal design is conducted to maximize the walking space and the dexterity, which are normalized by the stroke of leg. Kinematic parameters are found to maximize the weighted optimal objectives. We design a triple parallel mechanism robot by inserting Stewart platform between the upper leg mechanism and the lower leg mechanism and examine the gaits when the robot walks on the ground and climbs from a floor to a wall. The analysis of walking space and dexterity for each gait shows that the triple parallel walking robot has a large walking space with a large stability region. We explore the possibility that the robot can climb from a floor to a wall. Investigating the gaits for the six steps proves that the robot can lift the foot up to the wall by combining the orientational walking space generated by three parallel mechanisms.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.756-760
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• 1995

Optimal design of a hybrid parallel robot is investigated. In order to optimize the mechanism, new performance measures are introduced since use of the previous methods suffer form lack of the physical meaning due to the dimensional inhomogeneity. To overcome the problem, an Euclidean norm definition of each output space with homogeneous dimension is used to find input-output norm relation and derive new performance measures for each output spaces, that is, translational and rotational velocity, and derive new torque space. For illustion,the derived performance measures is applied to find the isotropic design of a Stewart platform robot which has condition number measures equal to one.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.711-714
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• 2001

As the life cycle of the vehicle become shorter, the method that reduce the development time of new model become more important. In this reason, the development of the simulator that provides similar environment with the actual vehicle road characteristics is increasing. In this paper, the multi-axis simulator is designed and analyzed by kinematic method. The simulator has a function simulating the 3 load elements; vertical, longitudinal, and lateral force respectively and simultaneously. The result of this paper can be used for developing the multi-axis simulator linkage.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.715-718
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• 2001

Test in the development of vehicle consist of driving test and simulation test. The last one has many advantages. It can reduce time and cost during development, can overcome the spacial and environmental limitation, and can provides repeatabilities of similar experiments and various data. In these reason, the simulation test is used more for analysis and development of new vehicle. In this research the result of kinematic analysis on multi-axis simulator is compared with the simulated result using dynamic analysis program, ADAMS, and the maximum stress and strain are analyzed for the safety of link and specifications of optimal design using finite element method.

• 한국정밀공학회지
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• 제15권1호
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• pp.60-68
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• 1998

Parallel link manipulators have an ability of more precise positioning than serial open-loop manipulators. However. general parallel link manipulators have been restricted to the real applications since they have limited workspace due to interference among actuators. In this study, we suggest a closed-loop manipulator with 6 degrees-of-freedom and with enlarged workspace. It consists of two parts for minimizing the interference among actuators. One part is lower structure with planar 3 degrees-of-freedom and the other is upper one with spatial 3 degrees-of-freedom. Forward kinematics and inverse kinematics are solved, research about singularity points are carried out and workspace is evaluated. The comparison of workspace between Stewart platform, which is the typical parallel link manipulator, and the suggested manipulator shows that the workspace of the latter is wider than that of the former. Especially, simulation results also show that the suggested manipulator is more suitable when there needs rotation in the end-effector.

• 대한의용생체공학회:의공학회지
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• 제25권6호
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• pp.505-510
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• 2004

본 논문에서 우리는 6자유도 원형 체외고정기의 조정을 위한 자동화 시스템에 관한 연구를 진행하였다. 6자유도 원형체외 고정기 자동화시스템은 HCF(Hexapod Circular Fixaotr)라는 체외 고정기를 자동화 한 것으로 HCF의 조정을 위한 소프트웨어와 HCF의 스트럿을 조정해주는 자동화 스트럿으로 구성된다. HCF는 일리자로프 고정기의 한 형태로서, 대표적인 병렬형 로봇인 스튜어트 플랫폼과 유사한 기구적 구조를 갖는다. HCF 조정 소프트웨어는 복잡한 골 변형의 교정을 쉽게 하기위한 소프트웨어로서, X-ray 사진을 이용하여 데이터를 획득한 후, 이 데이터를 HCF 조정 소프트웨어에 입력하여 스트럿의 길이 조정 값을 구한다. 또한 여기서 구한 스트럿 길이 조정 값을 자동화 스트럿 컨트롤러로 입력하여, 자동화 스트럿은 계획된 위치만큼 자동으로 구동된다. 또한 HCF 조정 소프트웨어 데이터는 자동화 스트럿 없이 일반 스트럿을 이용하여 HCF 조정을 위해 사용될 수 있다. 제안된 시스템은 실험을 통하여 그 타당성을 검증하였다.