• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 추계학술대회 논문집
• /
• pp.643-646
• /
• 1997

Gear trains are used in many machinery for variable speed ratios. Typical shapes of gear trains are tivo categories : simple gear trains and planetary gear trains. This paper presents the kinematic ctraracteristics for planetary gear trains. The characteristics are the constraints of geometric relationships, number of gears, speed of each gear. and speed ratio of the train. The objective goal of this paper provides the CAI) software, which is the academic tool for understanding the kinematics of the planetary gear trains.

• 제어로봇시스템학회논문지
• /
• 제8권3호
• /
• pp.233-242
• /
• 2002

A kinematic modeling method is proposed which models the sliding and skidding at the wheels as pseudo joints and utilizes those pseudo joint variables as augmented variables. Kinematic models of various type of wheels are derived based on this modeling method. Then, the transfer method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models of mobile robots. The kinematic models of five different types of planar mobile robots are derided to show the effectiveness of the proposed modeling method.

• 한국운동역학회지
• /
• 제31권1호
• /
• pp.44-49
• /
• 2021

Objective: The purpose of this study was to analyze kinematic variables according to ground slope angle during golf putting. Method: 26 collegiate golfers (age: 22.54±2.15 kg, height: 174.64±6.07 cm, weight: 71.35±9.27 kg, handicap: 5.11±4.50) were participated, and 8 motion capture cameras (250 Hz), Nexus, and Kwon3DXP software were used to collect data. It was performed repeated measures ANOVA and Bonferroni adjustment. Alpha set at .05. Results: Body alignments were not significantly different at address. Putter head trajectory and loft angle were significantly different, and AP direction of acceleration of putter head was significantly different. However, ML and SI direction of acceleration of putter head were not significantly different. Conclusion: Therefore, it was identified that ground slope angle was affected the kinematic variables during putting, and it will be performed that correlation analysis between putting success rate and kinematic variables according to ground slope angle during golf putting.

• 제어로봇시스템학회논문지
• /
• 제12권2호
• /
• pp.138-144
• /
• 2006

Kinematic and dynamic characteristics of a Stewart platform based parallel manipulators are fixed once they are constructed. Thus parallel manipulators with various configurations are required to meet a variety of applications. In this research a parallel manipulator with variable platform (PMVP) has been developed, in which the length of the arm linking the platform center to the platform-leg contact point can be varied by an actuator. The workspace of the PMVP is larger than that of a traditional Stewart platform and especially the range in which the maximum orientation angles can be maintained is significantly expanded. Furthermore, the characteristics of force and moment transmission between the legs and platform can be adjusted to meet the requirements of various tasks. Kinematic and dynamics analysis was performed to verify the usefulness of the PMVP and the actual hardware was built to demonstrate the feasibility.

• 대한기계학회논문집A
• /
• 제28권5호
• /
• pp.495-502
• /
• 2004

In this paper, kinematic structure of parallel manipulator having 6-DOF is determined to follow the specific trajectory represented by several curves expressed by the parametric variable functions. In addition, the parallel manipulator is designed to have a high dexterity by considering a kinematic isotropy which can stabilize the motion of the moving platform in the restricted workspace.

• 한국생산제조학회지
• /
• 제7권3호
• /
• pp.110-117
• /
• 1998

A continuum-based configuration design sensitivity analysis method is developed for kinematically driven mechanical systems. The configuration design variable for mechanical systems is defined. The 3-1-3 Euler angle is employed as the orientation design variable. Kinematic admissibility conditions of configuration design change. Direct differentiation method is used to derive the governing equations of the design sensitivity. Numerical examples are presented to demonstrate the validity and effectiveness of the proposed method.

• 한국수자원학회:학술대회논문집
• /
• 한국수자원학회 1987년도 제29회 수공학연구발표회논문초록집
• /
• pp.223-234
• /
• 1987

A weakly nonlinear solution is presented for the two-dimensional wave kinematics forced by a generic wavemaker of variable-draft. The solution is valid for both piston and hinged wavemakers of variable-draft that may be double articulated. The second-order propagating waves generated by a planar wave board are composed of two components; viz., a Stokes second-order wave and a second-harmonic wave forced by the wavemaker which travels at a different speed. A previously neglected time-independent solution that is required to satisfy a kinematic boundary condition on the wavemaker as well as a mixed boundary condition on the free surface is included for the first time. A component of the time-independent solution is found to accurately estimate the mean return current(correct to second-order) in a closed wave flume. This mean return current is usually estimated from kinematic considerations by a conservation of mass principle.

• 한국정밀공학회지
• /
• 제15권12호
• /
• pp.162-168
• /
• 1998

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot's trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. This paper develops algorithms for kinematics and workspace analysis of a binary manipulator.

• 한국운동역학회지
• /
• 제27권1호
• /
• pp.9-18
• /
• 2017

Objective: The purpose of this study was to identify kinematic variables that govern successful performance and judges' scores and to establish correlative relationships among those of Yurchenko layout with a full twist in female vaults. Method: Four video cameras with sampling rate of 60 Hz collected 32 motion data of Yurchenko vaults from twenty-two female participants (age: $18.6{\pm}3.6years$, height: $153.0{\pm}6.5cm$, mass: $44.7{\pm}7.3kg$) during national competition. Posting processing and calculations of kinematic variables were performed in Kwon 3D XP and $Matlab^{(R)}$ programs. Correlation and regression analyses were applied to find the relationships between the obtained scores and kinematic variables. Deterministic model (Hay & Reid, 1988) was used to investigate the strength of correlative relationships among kinematic variables. Results: The obtained scores from the judges' decision were mainly affected by post-flight peak height, horse contact time, knee angle at landing, and horse takeoff angle. Strong blocking during horse contact was required to get successful performance and obtain high scores. Modified deterministic model showed that round-off entrance and takeoff angles and resultant velocity of the center of mass (CM) during the roundoff phase were the starting variables affecting performance in the following kinematics. Knee angle at landing, a highly influential variable on the obtained point, was only determined by judges' decision without significant correlative relationship with previous kinematic variables. Conclusion: The obtained scores highly depended on kinematic variables of post-flight and horse contact phases that were affected by those from the previous phases including round-off postures and resultant velocity of the body center of mass.

• 한국생산제조학회지
• /
• 제24권2호
• /
• pp.244-250
• /
• 2015

We propose a simulation technique to estimate the reduction effect of the pressure/flow pulsation by analysis of the pulsation variables and notch shape of the valve plate of a swash-plate-type variable piston pump. First, using SimulationX$^{(R)}$, we perform a theoretical kinematic analysis according to the variable swash-plate angle and rotational velocity in order to design a single-piston pump. In designing the notch shape of the valve plate of the swash-plate-type variable piston pump as one of the pulsation variables, we investigate the effect of the pulsation by comparing two notch types (circular type and V type). Then, we extend our analysis to a nine-piston pump model. This paper not only confirms the effect of the pressure/flow pulsation according to pulsation variables but can also be applied to the development of a SimulationX$^{(R)}$-based simulation technique for notch-shape optimization for a swash-plate-type variable piston pump.