• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.375-378
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• 1995

Although laser interferometer measurement system has the advantage of range and accuracy, the traditional error measurement methods for geometric errors(two straightness and three angular errors) of a machine tool measures error components one at a time. It may also create an optical path difference and affect the measurement accuracy. In order to identify and compensate for geometric error of a moving body, an on-line measurement system for simultaneous detection of the five error components of a moving axis is required. An on-line measurement system with 5 degrees of freedom was developed for geometric error detection. Performance verification of the system was performed on an error generating mechanism. Experimental results show the feasibility of this system for identifying geometric errors of a side of machine tool.

• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.108.5-108
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• 2002

Recently, the more advanced control technologies are required to deal with the fast and accurate motion in manipulators. For these requirements, many manipulator control methods have been developed such as a computed torque method. This paper proposes a design method, a two-degrees-of-freedom internal model control (TDOF IMC), of the manipulator position control based on combination of the one-degree-of-freedom internal model control (ODOF IMC) system and the disturbance observer. The proposed control scheme is implemented for the position control, which leads the slave manipulator to the desired location by the master arm. The experimental results are presented and discussed through the imp...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1275-1278
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• 1997

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing pricess polishing robot with 2 degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. this automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, we develop robust controller using real time sliding mode algorithm. To obtain gain parameters of sliding model control input, the signal compression method is used to identify polishing robot system. To obtain an effect of 5 degrees of freedom motion, 5 axes NC data for polishing are divided into data of two types for 3 axis machining center and 2 axis polishing are divided into data of two types for 3 axis machining center and 2 axis polishing robot. To find an efficient polishing condition to obtain high quality, various experiments are carried out.

• 한국전산구조공학회논문집
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• 제20권1호
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• pp.57-63
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• 2007

본 연구는 동하중의 영향을 받는 구조물의 효율적인 구조 해석 및 최적화 수행을 위해 임계 시간의 동하중을 등가 정하중으로 변환하는 방법을 제안한다. 동하중을 등가 정하중으로 변환하기 위해서는 적절한 자유도 선정이 중요하다. 그러나, 기존 방법에서는 자유도의 선정이 임의로 이루어져서 몇 개의 자유도에 과도한 정하중이 부과되거나, 구조물의 거동에 영향력이 없는 자유도들이 선정됨으로써 신뢰성이 떨어지는 결과를 제공하기도 한다. 본 연구에서는 2단계 축소기법과의 연동을 통해 중요 자유도를 선정하고, 선정된 자유도에 등가 정하중을 부과하는 방법을 제안하다. 주자유도는 구조물의 거동에 지배적인 영향력을 갖고 있으며, 손상 탐지나 시스템 검증에서도 중요한 의미를 갖는 자유도이다. 수치예제를 통해 선정된 자유도에 등가 정하중을 분포시킨 후 동하중하의 시간 응답과 비교하여 그 신뢰성을 확인한다.

• Ocean Systems Engineering
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• 제9권3호
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• pp.219-240
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• 2019

This paper presents the comparison between SFT response with linear and nonlinear cables. The dynamic response analysis of submerged floating tunnel (SFT) is presented computationally with linear and nonlinear tension legs cables. The analysis is performed computationally for two wave directions one at 90 degrees (perpendicular) to tunnel and other at 45 degrees to the tunnel. The tension legs or cables are assumed as linear and non- linear and the analysis is also performed by assuming one tension leg or cable is failed. The Response Amplitude Operators (RAO's) are computed for first order waves, second order waves for both failure and non-failure case of cables. For first order waves- the SFT response is higher for sway and heave degree of freedom with nonlinear cables as compared with linear cables. For second order waves the SFT response in sway degree of freedom is bit higher response with linear cables as compared with nonlinear cables and the SFT in heave degree of freedom has higher response at low time periods with nonlinear cables as compared with linear cables. For irregular waves the power spectral densities (PSD's) has been computed for sway and heave degrees of freedom, at $45^0$ wave direction PSD's are higher with linear cables as compared with nonlinear cables and at $90^0$ wave direction the PSD's are higher with non-linear cables. The mooring force responses are also computed in y and z directions for linear and nonlinear cables.

• Wind and Structures
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• 제10권5호
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• pp.421-435
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• 2007

A two-dimensional flutter analysis method (2d-3DOF method) was developed to simultaneously investigate the relationship between oscillation parameters and aerodynamic derivatives of three degrees of freedom, and to clarify the coupling effects of different degrees of freedom in flutter instability. With this method, the flutter mechanism of two typical bridge deck sections, box girder section and two-isolated-girder section, were numerically investigated, and both differences and common ground in these two typical flutter phenomena are summarized. Then the flutter stabilization effect and its mechanism for long-span bridges with box girders by using central-slotting were studied by experimental investigation of aerodynamic stability and theoretical analysis of stabilizing mechanism. Possible explanation of new findings in the evaluation trend of critical wind speed through central vent width is finally presented.

• Ocean Systems Engineering
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• 제7권3호
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• pp.179-193
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• 2017

Dynamic response analysis of offshore triceratops with stiffened buoyant legs under impact and non-impact waves is presented. Triceratops is relatively new-generation complaint platform being explored in the recent past for its suitability in ultra-deep waters. Buoyant legs support the deck through ball joints, which partially isolate the deck by not transferring rotation from legs to the deck. Buoyant legs are interconnected using equally spaced stiffeners, inducing more integral action in dispersing the encountered wave loads. Two typical nonlinear waves under very high sea state are used to simulate impact and non-impact waves. Parameters of JONSWAP spectrum are chosen to produce waves with high vertical and horizontal asymmetries. Impact waves are simulated by steep, front asymmetric waves while non-impact waves are simulated using Stokes nonlinear irregular waves. Based on the numerical analyses presented, it is seen that the platform experiences both steady state (springing) and transient response (ringing) of high amplitudes. Response of the deck shows significant reduction in rotational degrees-of-freedom due to isolation offered by ball joints. Weak-asymmetric waves, resulting in non-impact waves cause steady state response. Beat phenomenon is noticed in almost all degrees-of-freedom but values in sway, roll and yaw are considerably low as angle of incidence is zero degrees. Impact waves cause response in higher frequencies; bursting nature of pitch response is a clear manifestation of the effect of impact waves on buoyant legs. Non-impact waves cause response similar to that of a beating phenomenon in all active degrees-of-freedom, which otherwise would not be present under normal loading. Power spectral density plots show energy content of response for a wide bandwidth of frequencies, indicating an alarming behaviour apart from being highly nonlinear. Heave, being one of the stiff degrees-of-freedom is triggered under non-impact waves, which resulted in tether tension variation under non-impact waves as well. Reduced deck response aids functional requirements of triceratops even under impact and non-impact waves. Stiffened group of buoyant legs enable a monolithic behaviour, enhancing stiffness in vertical plane.

• Advances in Computational Design
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• 제5권2호
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• pp.147-175
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• 2020

To achieve appropriate stresses, two new rectangular elements are presented in this study. For reaching this aim, a complementary energy functional is used within an element for the analysis of plane problems. In this energy form, the Airy stress function will be used as a functional variable. Besides, some basic analytical solutions are found for the stress functions. These trial functions are matched with each element number of degrees of freedom, which leads to a number of equations with the anonymous constants. Subsequently, according to the principle of minimum complementary energy, the unknown constants can be expressed in terms of displacements. This system can be rewritten in terms of the nodal displacement. In this way, two new hybrid-rectangular triangular elements are formulated, which have 16 and 40 degrees of freedom. To validate the outcomes, extensive numerical studies are performed. All findings clearly demonstrate accuracies of structural displacements, as well as, stresses.

• 융합신호처리학회논문지
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• 제8권2호
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• pp.124-129
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• 2007

최근, 반도체장비, 공구이송장비 그리고 CNC같은 여러 산업분야에 선형기계의 응용이 크게 증가하고 있다. 그러나 선형전동기는 진동특성을 가지고 있다. 그러므로 이러한 응용분야에서 정상 및 과도응답상태에서 고성능 위치제어가 필요하게 된다. 본 논문에서 간단하면서도 강력한 위치제어법을 2자유도 PID제어기를 이용하여 제안하였다. 이 기법은 과도현상없이 선형기계를 구동할 수 있는 잇점과 간단한 이득 동조를 할 수 있다. 일반적인 PID 제어기에 비해서 2자유도 제어기를 사용한 선형 전동기의 제어계의 성능 향상이 논의되었다. 그리고 시뮬레이션의 결과로 위치제어계의 응답에서 과도응답과 기동특성의 향상, 그리고 불필요한 진동성분의 제거에 유효함을 확인하였다.