• 대한산업공학회지
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• 제11권1호
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• pp.21-32
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• 1985

Presented in this paper is a procedure of developing graphical simulation software for planning robot welding processes. Welding is by far the highest application area for industrial robots, and it has been in great need of such a simulator in designing robot work cells, in justifying the economics of robot welding and in planning robotized welding operations. The model of a robot welding cell consists of four components: They are an welding structure which is a collection of plates to be welded, a positioner to hold the welding structure, a robot with a weld torch, and a set of welding lines (in case of arc welding). Welding structure is modeled by using the reference plane concept and is represented as boundary file which is widely used in solid modeling. Robot itself is modeled as a kinematic linkage system. Also included in the model are such technical constraints as weaving patterns and inclination allowances for each weld joint type. An interactive means is provided to input the welding structure and welding lines on a graphics terminal. Upon completion of input, the program displays the welding structure and welding lines and calculates the center of mass which is used in determining positioner configurations. For a given positioner and robot configuration, the welding line segments that can be covered by the robot are identified, enabling to calculate the robot weld ratio and cycle time. The program is written in FORTRAN for a VAX computer with a Tektronix 4114 graphic terminal.

• 한국자동차공학회논문집
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• 제22권5호
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• pp.66-72
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• 2014

A kinematic analysis method has been used as analysis method for dynamic behavior of moving parts of vehicle, especially hood part. Such analysis method, however, has its limitations in terms of design technology, including, over travel of hood that occurs due to lack of considerations of compliance characteristics, such as flexible components of hood's weather strip and over slam bumper. Therefore, it is necessary to develop a modeling which reflects compliance of flexible components of hood and elastic characteristics of panel for improvement of design process. In this thesis, a finite element method as mentioned earlier, is developed to represent over travel of hood. Also optimization process applying sequential approximate optimization is suggested to prevent over travel. The over travel analysis method and optimization process, which are developed through the research, would make it possible to design with high quality and credibility. Furthermore, it is expected that the time for design would be reduced and the design quality also improved.

• 한국정밀공학회지
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• 제16권12호
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• pp.87-98
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• 1999

This study is concentrated on the development of real-time estimation model and vision control method as well as the experimental test. The proposed method permits a kind of adaptability not otherwise available in that the relationship between the camera-space location of manipulable visual cues and the vector of manipulator joint coordinates is estimate in real time. This is done based on a estimation model ta\hat generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation as well as uncertainty of manipulator. This vision control method is roboust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the manipulator, and correct knowledge of position and orientation of CCD camera with respect to the manipulator base. Finally, evidence of the ability of real-time vision control method for manipulator's position control is provided by performing the thin-rod placement in space with 2 cues test model which is completed without a prior knowledge of camera or manipulator positions. This feature opens the door to a range of applications of manipulation, including a mobile manipulator with stationary cameras tracking and providing information for control of the manipulator event.

• 한국정밀공학회지
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• 제31권10호
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• pp.897-904
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• 2014

In this paper, two-DOF parallel manipulator has the sliders which execute a linear reciprocating motion depending on parallel guides and the end-effector which can be adjusted arbitrarily. To investigate the dynamic characteristics of the manipulator, the dynamic performance index is used. The index is able to be obtained by the relation between the Jacobian matrix and the inertia matrix. The kinematic and the dynamic analysis find these matrices. Also, the dynamic model of the manipulator is derived from the Lagrange formula. This model represents complicated nonlinear equations of motion. With the simulation results of the dynamic characteristic of the manipulator, we find that the dynamic performance index is based on the selection of the ranges for the continuous movement of the manipulator and the dynamic model derived can be used to the control algorithm development of the manipulator.

• 한국생산제조학회지
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• 제19권5호
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• pp.678-683
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• 2010

The drum cam with rotational follower is used to apply the ATC and index table of machine tools and it has the merit of minimizing the backlash. In general, to machine the drum cam with rotational follower, 5-axis CNC machine must be used and its kinematic principle must be included in modeling on CAM. So, the commercialized CAM software can't be applied to this machining of drum cam. Though some special software for machining drum cam was developed, it could be applied to special 5-axis CNC machine tools and the finish machining module was not applied. To solve this problem, this study includes the induction of the post processing algorithm for the rough machining of drum cam on several 5-axis CNC machine tools, type AC, AB and Be. The finish machining software will be treated in next study. A sample drum cam was machined on 5-axis CNC machine tool of AC type. The designed geometric profile of drum cam consist to the measured profile after machining well. This post processing algorithm for rough machining of the drum cam was clearly verified.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.372-378
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• 2013

In this paper, we research the localization problem of the crawler-type inspection robot for underwater structure which travels an outer wall of underwater structure. Since various factors of the underwater environment affect an encoder odometer, it is hard to localize robot itself using only on-board sensors. So in this research we used a depth sensor and an IMU to compensate odometer which has extreme error in the underwater environment through using Extended Kalman Filter(EKF) which is normally used in mobile robotics. To acquire valid measurements, we implemented precision sensor modeling after assuming specific situation that robot travels underwater structure. The depth sensor acquires a vertical position of robot and compensates one of the robot pose, and IMU is used to compensate a bearing. But horizontal position of robot can't be compensated by using only on-board sensors. So we proposed a localization algorithm which makes horizontal direction error bounded by using kinematics relationship. Also we implemented computer simulations and experiments in underwater environment to verify the algorithm performance.

• Coupled systems mechanics
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• 제3권3호
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• pp.247-265
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• 2014

This article discusses the dynamic response of Bernoulli-Euler straight beam with angular elastic supports subjected to moving load with variable velocity. A new engineering approach for determination of the dynamic effect from the moving load on the stressed and strained state of the beam has been developed. A dynamic coefficient, a ratio of the dynamic to the static deflection of the beam, has been defined on the base of an infinite geometrical absolutely summable series. Generalization of the R. Willis' equation has been carried out: generalized boundary conditions have been introduced; the generalized elastic curve's equation on the base of infinite trigonometric series method has been obtained; the forces of inertia from normal and Coriolis accelerations and reduced beam mass have been taken into account. The influence of the boundary conditions and kinematic characteristics of the moving load on the dynamic coefficient has been investigated. As a result, the dynamic stressed and strained state has been obtained as a multiplication of the static one with the dynamic coefficient. The developed approach has been compared with a finite element one for a concrete engineering case and thus its authenticity has been proved.

• Coupled systems mechanics
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• 제2권1호
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• pp.53-83
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• 2013

Sea waves induce significant pressures on coastal surfaces, especially on rocky vertical cliffs or breakwater structures (Peregrine 2003). In the present work, this hydrodynamic pressure is considered as the excitation acting on a piezoelectric material sheet, installed on a vertical cliff, and connected to an external electric circuit (on land). The whole hydro/piezo/electric system is modeled in the context of linear wave theory. The piezoelectric elements are assumed to be small plates, possibly of stack configuration, under a specific wiring. They are connected with an external circuit, modeled by a complex impedance, as usually happens in preliminary studies (Liang and Liao 2011). The piezoelectric elements are subjected to thickness-mode vibrations under the influence of incident harmonic water waves. Full, kinematic and dynamic, coupling is implemented along the water-solid interface, using propagation and evanescent modes (Athanassoulis and Belibassakis 1999). For most energetically interesting conditions the long-wave theory is valid, making the effect of evanescent modes negligible, and permitting us to calculate a closed-form solution for the efficiency of the energy harvesting system. It is found that the efficiency is dependent on two dimensionless hydro/piezo/electric parameters, and may become significant (as high as 30 - 50%) for appropriate combinations of parameter values, which, however, corresponds to exotically flexible piezoelectric materials. The existence or the possibility of constructing such kind of materials formulates a question to material scientists.

• 한국생산제조학회지
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• 제8권6호
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• pp.26-34
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• 1999

This study shows an alternative method for the determination of object's position, based on a computer vision method. This approach develops the vision system model to define the reciprocal relationship between the 3-D real space and 2-D image plane. The developed model involves the bilinear six-view parameters, which is estimated using the relationship between the camera space location and real coordinates of known position. Based on estimated parameters in independent cameras, the position of unknown object is accomplished using a sequential estimation scheme that permits data of unknown points in each of the 2-D image plane of cameras. This vision control methods the robust and reliable, which overcomes the difficulties of the conventional research such as precise calibration of the vision sensor, exact kinematic modeling of the robot, and correct knowledge of the relative positions and orientation of the robot and CCD camera. Finally, the developed vision control method is tested experimentally by performing determination of object position in the space using computer vision system. These results show the presented method is precise and compatible.

• Wind and Structures
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• 제29권6호
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• pp.371-387
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• 2019

In the present paper, a simple refined nth-higher-order shear deformation theory is applied for the free vibration analysis of laminated composite plates. The proposed displacement field is based on a novel kinematic in which include the undetermined integral terms and contains only four unknowns, as against five or more in case of other higher-order theories. The present theory accounts for adequate distribution of the transverse shear strains through the plate thickness and satisfies the shear stress-free boundary conditions on the top and bottom surfaces of the plate, therefore, it does not require problem dependent shear correction factor. The governing equations of motion are derived from Hamilton's principle and solved via Navier-type to obtain closed form solutions. The numerical results of non-dimensional natural frequencies obtained by using the present theory are presented and compared with those of other theories available in the literature to verify the validity of present solutions. It can be concluded that the present refined theory is accurate and efficient in predicting the natural frequencies of isotropic, orthotropic and laminated composite plates.