• 한국산업융합학회 논문집
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• 제24권6_2호
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• pp.953-959
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• 2021

In this paper, the numerical inverse kinematics analysis is presented for a collaborative robot with an offset wrist. Robot manipulators with offset wrist are widely used in industrial applications, due to many advantages over those with wrist center and those with three parallel axes such as simple mechanical design, light weight, and so on. There may not exist a closed-form solution for a robot manipulator with offset wrist. A simple numerical method is applied to solve the inverse kinematics with offset wrist. Singularity is analyzed using Jacobian matrix and the numerical inverse kinematics algorithm is implemented on the real-time controller.

• 한국전자통신학회논문지
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• 제18권5호
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• pp.935-944
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• 2023

본 연구에서는 신뢰성 연구에 적합하다고 알려진 Inverse-type(: Inverse-Exponential, Inverse-Rayleigh) 수명분포를 유한고장 NHPP(: Nonhomogeneous Poisson Process) 기반의 소프트웨어 개발비용 모형에 적용한 후, 성능을 결정하는 속성을 분석하였다. 또한, 모형의 효율성을 평가하기 위해 Goel-Okumoto 기본 모형과 함께 비교하였다. 고장 시간 데이터를 이용하여 모형의 성능을 분석하였고, 모수의 계산은 MLE(: Maximum Likelihood Estimation)를 적용하였다. 결론적으로, 첫째, 개발비용을 결정하는 m(t)를 분석한 결과, Inverse-Exponential 모형이 참값에 대한 오차가 적어 효율적이었다. 둘째, 개발비용과 함께 방출시간을 분석한 결과 Inverse-Rayleigh 모형이 가장 좋은 것으로 확인되었다. 셋째, 제안된 모형의 속성(m(t), 비용, 방출시간)을 종합적으로 평가한 결과, Inverse-Rayleigh 모형의 성능이 가장 우수하였다. 따라서 소프트웨어 개발자가 초기 프로세스에서 본 연구 데이터를 효율적으로 활용할 수 있다면, 비용에 영향을 미치는 속성들을 사전에 탐색하고 분석할 수 있을 것이다.

• 대한기계학회논문집B
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• 제30권3호
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• pp.270-277
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• 2006

Inverse radiation problems were solved for estimating boundary temperature distribution in a way of function estimation approach in an axisymmetric absorbing, emitting and scattering medium, given the measured radiative data. In order to reduce the computational time fur the calculation of sensitivity matrix, automatic differentiation and Broyden combined method were adopted, and their computational precision and efficiency were compared with the result obtained by finite difference approximation.. In inverse analysis, the effects of the precision of sensitivity matrix, the number of measurement points and measurement error on the estimation accuracy had been inspected using quasi-Newton method as an inverse method. Inverse solutions were validated with the result acquired by additional inverse methods of conjugate-gradient method or Levenberg-Marquardt method.

• 한국산업융합학회 논문집
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• 제19권4호
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• pp.206-215
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• 2016

Delta parallel robots are now widely used for high-speed applications. However, typical Delta robots, such as ABB Flexpicker suffer from rotating axis with passive prismatic joint subjected to critical speed and so requiring careful maintenance. In this paper, a novel 4-DOF high-speed parallel robot with four legs is presented, which consists of three legs with 90 degree arrangement for translational motions and one remaining leg with rack & pinion gears for rotational motion. The inverse kinematics, velocity, acceleration, statics, and inverse dynamics have been analyzed. From the workspace analysis and inverse dynamics simulation for 0.43 sec cycle time, the 4-axis parallel robot prototype with 12kg payload has been designed. In the future research, computed torque control methods will be developed for the prototype.

• 대한기계학회논문집B
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• 제28권6호
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• pp.705-712
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• 2004

An inverse boundary analysis of surface radiation in an axisymmetric cylindrical enclosure has been conducted in this study. Net energy exchange method was used to calculate the radiative heat flux on each surface, and a hybrid genetic algorithm was adopted to minimize an objective function, which is expressed by sum of square errors between estimated and measured or desired heat fluxes on the design surface. We have examined the effects of the measurement error as well as the number of measurement points on the estimation accuracy. Furthermore, the effect of a variation in one boundary condition on the other boundary conditions was also investigated to get the same desired heat flux and temperature distribution on the design surface.

• 대한의용생체공학회:의공학회지
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• 제25권4호
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• pp.301-307
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• 2004

보행 중 각 관절의 모멘트를 계산하기 위한 역동역학 모델을 개발하였다. 모델은 1개의 상체와 3개의 체절로 하지를 구성하였고 3개의 병진 조인트와 12개의 회전조인트로 각 체절을 연결하고 뉴턴-오일러 방법으로 역동역학 해를 구하였다. 입력자료로서의 기구학적 사료는 3차원 동작분석 시스템에서 추출하였고 외력으로서 지면 반발력은 동기화한 힘측정판에서 구했다. 개발된 모델을 이용하여 비대칭 모델이나 질량중심의 이동을 포함한 해석 등 다양한 인체운동 해석이 가능하다.

• 대한기계학회논문집A
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• 제32권2호
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• pp.202-208
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• 2008

A 6 DOF Multi axis simulation table (MAST) is used to perform vibration and fatigue tests for parts or assemblies of automobiles, aircraft, or other systems. It consists of a table and 6 linear actuators. For its attitude control, we have to adjust the lengths of 6 actuators properly. The system is essentially a parallel mechanism. Three actuators are connected to the table directly and other three actuators are connected indirectly. Because of these, the MAST shows also a serial mechanism#s property: the inverse kinematics is more complicated than a pure parallel mechanism and each actuator can operate independently. The authors have performed a kinematics analysis of the 6 DOF MAST. We have presented an analytical and a numerical solution for the inverse and forward kinematics, and we have verified the solutions by a 3D CAD software.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.175-180
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• 2003

An inverse problem to determine two-dimensional total heat exchange factor is studied for the prediction of the billet temperature in the reheating furnace. Temperature measurements by the experiment are used in the inverse analysis. This inverse analysis employs the conjugate gradient method. The total heat exchange factors for 12-zones of the cross-section of the billet are estimated. The estimated temperatures at measurement locations are in good agreements with the measured temperatures.

• 대한기계학회논문집B
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• 제29권11호
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• pp.1257-1264
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• 2005

An inverse problem to determine two-dimensional total heat exchange factor is studied for the prediction of the slab temperature in the reheating furnace. Temperature measurements by the experiment are used in the inverse analysis. This inverse analysis employs the conjugate gradient method. The overall heat absorptances for 12-zones of the cross-section of the slab are estimated. The estimated temperatures at measurement locations are in good agreements with the measured temperatures.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1997년도 추계학술대회논문집
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• pp.89-92
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• 1997

Design of a weld line in a tailor welded blank is indispensable for good manufacturing of stamped parts as assigned, since the intial weld line is distorted severely with forming. The initial weld line has to be determined such that desired weld line in a formed part can be obtained. The initial weld line was predicted by inverse finite element analysis from the desired weld line in a formed part. The inverse approach is applied to the cylindrical and square cup drawing with tailor welded blanks. The applications demonstrates that the approach is useful for design of weld line of tailor welded blank.