• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1624-1627
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• 1997

The 6-DOF parallel manipulator is a closed-kindmatic chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. Because of its advantage, the parallel manipulator have been widely used in many engineering applications such as vehicle/flight driving simulators, rogot maniplators, attachment tool of machining centers, etc. However, the kinematic analysis for the implementation of a real-time controller has some problem because of the lack of an efficient lagorithm for solving its highly nonliner forward kinematic equation, which provides the translational and orientational attitudes of the moveable upper platform from the lenght of manipulator linkages. Generally, Newton-Raphson method has been widely sued to solve the forward kinematic problem but the effectiveness of this methodology depend on how to set initial values. This paper proposes a hybrid method using genetic algorithm(GA) and Newton-Raphson method to solve forward kinematics. That is, the initial values of forward kinematics solution are determined by adopting genetic algorithm which can search grobally optimal solutions. Since determining this values, the determined values are used in Newton-Raphson method for real time calcuation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.27-30
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• 2000

In this paper, we determine the design criteria of haptic device considering the human haptic system and determine the design specifications. We developed a new 2DOF haptic device based on the specifications. It has the wide workspace, statically-balanced, constant inertia matrix, well-conditioned Jacobian matrix and so on. There also is not singularity point within workspace of the device. We show that it has better performance than other 2DOF haptic device in the many aspects.

• Journal of Mechanical Science and Technology
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• v.18 no.4
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• pp.550-559
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• 2004

In this paper, a recursive formulation for generating the equations of motion of spatial mechanical systems is presented. The rigid bodies are replaced by a dynamically equivalent constrained system of particles which avoids introducing any rotational coordinates. For the open-chain system, the equations of motion are generated recursively along the serial chains using the concepts of linear and angular momenta Closed-chain systems are transformed to open-chain systems by cutting suitable kinematic joints and introducing cut-joint constraints. The formulation is used to carry out the dynamic analysis of multi-link five-point suspension. The results of the simulation demonstrate the generality and simplicity of the proposed dynamic formulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.144-147
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• 2001

The planar tracked vehicle model used in this investigation consists of two kinematically decoupled subsystem, i.e., the chassis subsystem and the track subsystem. The chassis subsystem include the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints, In this paper, the recursive kinematic and dynamic formulation of the tracked vehicle is used to find the vertical forces and the distances of the certain track moved in the driving direction along the track. These distances and vertical forces obtained are used to calculate the sinkage of a terrain. The FEM is adopted to analyze the interaction between the tracked vehicle and terrain. The terrain is represented by a system of elements with specified constitutive relationships and considered as a piecewise linear elastic, plastic and isotropic material. When the tracked vehicle is moving with different speeds on the terrain, the elastic and plastic deformations and the maximum sinkage for the four different types of a isotropic soil are simulated.

• PNF and Movement
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• v.19 no.3
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• pp.423-433
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• 2021

Purpose: Proprioceptive neuromuscular facilitation (PNF) is a method for promoting functional movements by facilitating neuromuscular responses through the stimulation of proprioceptors in the body using spiral and diagonal patterns. Irradiation, a basic principle of PNF, is a phenomenon in which the muscle activity of a body part caused by resistance is increased or spread into muscles in other parts via their connected muscles. Resistance training can be divided by body alignment into closed and open chain exercises. Methods: In this study, 19 healthy men in their 20s and 30s were selected as subjects. They performed PNF hip flexion, abduction, and internal rotation motions on their dominant side in an open chain exercise posture in which the nondominant sole was away from the wall, and in a closed chain exercise posture in which the sole was fixed to the wall. The nondominant leg's muscle activity was measured while resistance was maintained with applied pressure at 0%, 25%, 50%, 75%, and 100% of the maximum muscle strength in the last range of motions. A two-way analysis of variance (ANOVA) was conducted for a comparative analysis of the contralateral leg's muscle activity according to the chain exercise postures and the intensity of resistance intensity during PNF hip flexion, abduction, and internal rotation. In addition, an independent sample T-test was conducted for a comparative analysis of each chain exercise posture according to the intensity of resistance. A one-way ANOVA and a Scheffe post-hoc test were also performed to analyze the contralateral leg's muscle activity according to the intensity of resistance in the closed and open chain exercise postures. Results: Results of the two-way ANOVA found that the gluteus medius and the biceps femoris had statistically significant differences in both the chain exercise postures and resistance intensity (p<0.05), and that the vastus medialis and the gastrocnemius did not exhibit statistically significant differences in the chain exercise postures (p>0.05) but showed statistically significant differences in resistance intensity (p<0.05). As a result of the independent sample T-test, the application of the PNF hip flexion-abduction-internal rotation pattern led to a statistically significant difference in the contralateral gluteus medius during the closed chain exercise posture (p<0.05). According to the results of the one-way ANOVA and the Scheffe post-analysis, statistically significant differences were observed in the gluteus medius at 50%, biceps femoris at 75%, vastus medialis at 100%, and gastrocnemius at 100% during the closed chain exercise posture based on a resistance intensity of 0% (p<0.05). In the open chain exercise posture, statistically significant differences were found in the gluteus medius at 50%, biceps femoris at 50%, and vastus medialis at 75% based on the resistance intensity of 0% (p<0.05). In the same posture, there was no significant difference in the gastrocnemius's resistance intensity (p>0.05). Conclusion: When the PNF leg pattern is applied, each muscle requires effective chain exercise postures and resistance intensity to generate the contralateral leg muscle's irradiation.

• Journal of Korea Entertainment Industry Association
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• v.14 no.8
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• pp.391-396
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• 2020

This study was to examined the effect of chain types exercise of lower limbs on the motor performance differences for the life-carement. For this, twenty normal adult women participated and they were examined the differences of exercise effects about abdominal muscle activity and balance ability by applying two types of chain exercise. In order to identify the differences we let them conduct exercise for 4 weeks with each type of exercise. And we used paired t-test and Independent sample t-test for comparing the differences in the group and inter groups. There was a significant difference in the value of 0.05 to verify statistical significance. As a result of this research, it was found that closed chain exercise is more effective than open chain exercise in muscle activity and balance function. Therefore, in the clinical therapeutic environment, if you apply chain exercise for patient to improve lower limb motor performance, we would recommend the close kinematic chain exercise.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.140-150
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• 2002

The planar tracked vehicle model used in this investigation consists of two kinematically decoupled subsystems, i.e., the chassis subsystem and the track subsystem. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. In this study, the recursive kinematic and dynamic formulation of the tracked vehicle is used to find the vertical terce and the distance of an arbitrary track moved in the driving direction along the track. These distances and vertical forces obtained are used to get the deformation and sinkage of a terrain. The FEM(Finite Element Method) is adopted to analyze the interaction between tracked vehicle and terrain. The terrain is represented by a system of elements wish specified constitutive relationships and considered as a piecewise linear elastic, plastic and isotropic material. When the tracked vehicle is moving with different speeds on the terrain, the elastic and plastic deformations and the maximum sinkage for the four different types of isotropic soils are simulated.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.205-215
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• 2001

In this study, modeling and analysis procedure for the dynamic analysis of a high mobility tracked vehicle system were studied. The vehicle model used in this investigation is assumed to be consist of two kinematically decoupled subsystems. The chassis subsystem consists of chassis frame, sprocket, support rollers, road wheels, idler wheel, road wheel arms and idle wheel arm, while the track subsystem is represented as a closed kinematic chain consisting of track links and end connectors interconnected by revolute joints with bushing. Nonlinear contact force module describing the interaction between track link, and sprocket, idler wheel, road wheel, support roller, ground was used. The effects of road wheel arms and idler wheel arm due to tension adjuster are also considered.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.1156-1161
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• 1990

The concept of the manipulability measure of the robotic mechanism is extended to the dual arm holding a single object. This is a measure of manipulating ability of the dual arm forming a closed kinematic chain in positioning and orienting the object. Dual arm manipulability measure is defined and compared to the single arm manipulability measure, and some properties are investigated.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.4
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• pp.24-31
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• 1998

In this study, a procedure is presented for the dynamic analysis of a multibody tracked vehicle system. The planar vehicle model used in this investigation is assumed to consist of two kinematically decoupled subsystems. i.e., the chassis subsystem and track subsystem. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. The nonlinear contact force modules describing the interaction between track links, and sprocket, idler, rollers and ground will be developed.