• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1613-1616
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• 1997

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

• Journal of the Korean Geotechnical Society
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• v.15 no.5
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• pp.205-215
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• 1999

Crushable sandy soil grounds are widely found along the coast throughout the world. The ground composed of lime sand, which is characterized by the material with high compressibility due to particle crushing contains carbonate calcium. In this study, in order to clarify the characteristics of the particle crushing as related to the strength and deformation properties of sands, isotropic compression test was carried out on three different types of carbonate sands and a silica sand. A crushability index, K, is proposed in connection with the yielding and particle crushing stress of sands at various relative densities under isotropic compression. It is concluded that the representative crushability index, K, associated with the soil particle strength, can be a key factor in preliminary parameters in evaluating soil crushability.

• Geomechanics and Engineering
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• v.17 no.6
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• pp.527-534
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• 2019

There have been developed a number of methods to assess the abrasivity of rock materials with the increased use of mechanized rock excavation. These methods range from determination of abrasive and hard mineral content using petrographic thin section analysis to weight loss or development of wear flat on a specified cutting tool. The Cerchar abrasivity index (CAI) test has been widely accepted for the assessment of rock abrasiveness. This test has been considered to provide a reliable indication of rock abrasiveness for isotropic rocks. However, a great amount of rocks in nature are anisotropic. Hence, viability assessment of Cerchar abrasivity test for the anisotropic rocks is investigated in this research. The relationship between CAI value and quartz content for the isotropic rocks is well known in literature. However, a correlation between EQ, F-Schimazek value, Rock Abrasivity Index (RAI) and CAI of anisotropic rocks such as phyllite was done first time in literature with this research. The results obtained with this research show F-Schimazek values and RAI values should be considered when determination of the abrasivity of anisotropic rocks instead of just using Cerchar scratch test.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.11
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• pp.1776-1785
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• 2004

In this research, the relationships between static bimaterial constant and dynamic oscillation index are studied. It was certified that static bimaterial constant has the same form equation as the dynamic oscillation index. Bimaterial constant and oscillation index are increased with the increment of Young's modulus ratio and approached to the some value. Isochromatic fringe patterns are slanted to the left side with increment of bimaterial constants and oscillation index. Though patterns of stress components in above the crack surface are similar to each other, their magnitudes are different a little. In the ahead of crack tip, there are big differences in the isochromatic fringe patterns and their magnitudes. The influence of bimaterial with Young's modulus ratio is bigger in the propagation crack than in the stationary crack.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.299-303
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• 2004

In our pervious paper, a new parallel-type spherical 3-degree-of-freedom mechanism consisting of a two-degree-of-freedom parallel module and a serial RRR subchain was proposed[1]. In this paper, its improved version is suggested and implemented. Differently from the previous 3-dof spherical mechanism, gear chains are incorporated into the current version of the mechanism to drive the distal revolute joint of the serial subchain from the base of the mechanism and in fact, the modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, after a brief description on its structure, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model of the mechanism for the inputs which are assumed to be located at the base is derived. Thirdly, through the simulations of the kinematic analysis via. kinematic isotropic index, it is confirmed that the mechanism has much more improved isotropic properties throughout the workspace of the mechanism than the previous mechanism in [1]. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.525-529
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• 2004

A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.520-524
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• 2004

In this work, a novel spherical 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism within 3-DOF spherical space. The closed form solutions of position analysis of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.210-216
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• 2001

In this paper, design of a 3-degree-of-freedom mobile robot with three caster wheels is performed. Initially, kinematic modeling and singularity analysis of the mobile robot is performed. It is found that the singularity can be avoided when the robot has more than two wheels on which two active joints are located. Optimal kinematic parameters of mobile robots with three active joint variables and with four active joint variables are obtained and compared with respect to kinematic isotropic index of the Jacobian matrix of the mobile robot which is functions of the wheel radius and the length of steering link.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1693-1696
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• 2003

In this paper, input-output velocity transmission characteristics of the Casing Oscillator, which is a constructional machine with 4 degree of freedom are examined. After the Jacobian matrix is decomposed into linear part and angular part, the linear and the angular velocity transmission characteristics are analyzed and visualized in easy way even in the case of 3 dimensional task space with 4 variables. Regarding the measure of dexterity of the Casing Oscillator, the kinematic isotropic index and the manipulability measures which are respectively represented the isotropy and the volume of the manipulability ellipsoid are combined. A performance of the Casing Oscillator is evaluated by the combined manipulability measure.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.8 s.173
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• pp.118-127
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• 2005

A spatial 3 degrees-of-freedom mechanism employing Stewart Platform structure is proposed: the mechanism maintains the 3- RRPS structure of Stewart Platform but has an additional passive PRR serial sub-chain at the center area of the mechanism in order to constrain the output motion of the mechanism within the output motion space of the added PRR serial subchain. The forward and reverse position analyses of the mechanism are performed. Then the mechanism having both the forward and the reverse closed-form solutions is suggested and its closed form solutions are derived. It is confirmed, through the kinematic analysis of those two proposed mechanisms via kinematic isotropic index, that both the proposed mechanisms have fairly good kinematic characteristics compared to the existing spatial 3-DOF mechanisms in literature.