• 제어로봇시스템학회논문지
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• 제13권6호
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• pp.560-567
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• 2007

The objective of this research is to optimize the designing parameters of the parallel manipulator with large orientation workspace at the boundary position of the constant orientation workspace (COW). The method uses a simple genetic algorithm(SGA) while considering three different kinematic performance indices: COW and the global conditioning index(GCI) to evaluate the mechanism's dexterity for translational motion of an end-effector, and orientation workspace of two angle of Euler angles to obtain the large rotation angle of an end-effector at the boundary position of COW. Total fifteen cases divided according to the combination of the sphere radius of COW and rotation angle of orientation workspace are studied, and to decide the best model in the total optimized cases, the fuzzy inference system is used for each case's results. An optimized model is selected as a best model, which shows better kinematic performances compared to the basis of the pre-existing model.

• 한국생산제조학회지
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• 제20권3호
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• pp.322-328
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• 2011

This paper presents inverse kinematics and workspace analysis of a planar three degree-of-freedom (DOF) parallel manipulator. Furthermore, optimization problem of the manipulator is presented. The manipulator adopts PRR (Prismatic-Revolute-Revolute) mechanism and the prismatic actuators are fixed to the base. This leads to a reduction of the inertia of the moving links and hence enables it to move with high speed. The actuators are linear electric motors. First, the mechanism based on the geometry of the manipulator is introduced. Second, a workspace analysis is performed. Finally, design optimization is carried out to have large workspace. The proposed approach can be applied to the design optimization of various three DOF parallel manipulators in order to maximize their workspace. The performance of mechanism is improved and satisfies the requirements of workspace to align micro-components.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.765-768
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• 1995

A double parallel manipulator has only two or three links in each parallel mechanism. this reduces link interferences so that we expect a large workspace. To prove this property, this paper analyzes the workspace of a double parallel manipulator and compare it with that of a Stewart Platform. the analysis is separately conducted in a positional and an orientational division. For each, we obtain the workspace accrding to the ranges of lengths of links and show the volume in a cartesian coordinate or the angular ranges in yaw and pitch motions.

• 한국건설관리학회논문집
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• 제5권5호
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• pp.151-162
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• 2004

Current methods for construction site modeling employ large, expensive laser range scanners that produce dense range point clouds of a scene from different perspectives. Days of skilled interpretation and of automatic segmentation may be required to convert the clouds to a finished CAD model. The dynamic nature of the construction environment requires that a real-time local area modeling system be capable of handling a rapidly changing and uncertain work environment. However, in practice, large, simple, and reasonably accurate embodying volumes are adequate feedback to an operator who, for instance, is attempting to place materials in the midst of obstacles with an occluded view. For real-time obstacle avoidance and automated equipment control functions, such volumes also facilitate computational tractability. In this research, a human operator's ability to quickly evaluate and associate objects in a scene is exploited. The operator directs a laser range finder mounted on a pan and tilt unit to collect range points on objects throughout the workspace. These groups of points form sparse range point clouds. These sparse clouds are then used to create geometric primitives for visualization and modeling purposes. Experimental results indicate that these models can be created rapidly and with sufficient accuracy for automated obstacle avoidance and equipment control functions.

• Journal of the Optical Society of Korea
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• 제11권4호
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• pp.162-172
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• 2007

Scanning Laser Optical Tweezers(SLOT) is an optical instrument frequently employed on a microscope with laser being delivered through its various ports. In most SLOT systems, a mechanical tilt stage with a mirror on top is used to dynamically move the laser focal point in two-dimensions. The focal point acts as a tweezing spot, trapping nearby microscopic objects. By adding a mechanical translational stage with a lens, SLOT can be expanded to work in three-dimensions. When two mechanical stages operate together, the focal point can address a closed three-dimensional volume that we call a workspace. It would be advantageous to have a large workspace since it means one can trap and work on multiple objects without interruptions, such as translating the microscope stage. However, previous studies have paid less consideration of the volumetric size of the workspace. In this paper, we propose a new method for designing a SLOT such that its workspace is maximized through optimization. The proposed method utilizes a matrix based ray tracing method and genetic algorithm(GA). To demonstrate the performance of the proposed method, experimental results are shown.

• 로봇학회논문지
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• 제3권2호
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• pp.137-145
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• 2008

We present the initial results of on-going research for building a novel Mobile Haptic Interface (MHI) that can provide an unlimited haptic workspace in large immersive virtual environments. When a user explores a large virtual environment, the MHI can sense the position and orientation of the user, place itself to an appropriate configuration, and deliver force feedback, thereby enabling a virtually limitless workspace. Our MHI (PoMHI v0.5) features with omnidirectional mobility, a collision-free motion planning algorithm, and force feedback for general environment models. We also provide experimental results that show the fidelity of our mobile haptic interface.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.288-296
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• 1999

A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

• 대한전기학회논문지
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• 제39권4호
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• pp.403-413
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• 1990

A collision free trajectory control for multiple mobile robots in obstacle-resident workspace is proposed. The proposed method is based on the concept of neural optimization network which has been applied to such problems which are too complex to be handled by traditional analytical methods, and gives good adaptibility for unpredictable environment. In this paper, the positions of the mobile robot are taken as the variables of the neural circuit and the differential equations are derived based on the performance index which is the weighted summation of the functions of the distances between the goal and current position of each robot, between each pair of robots and between the goal and current position of each robot, between each pair of robots and between obstacles and robots. Also is studied the problem of local minimum and of detour in large radius around obstacles, which is caused by inertia of mobile robots. To show the validity of the proposed method an example is illustrated by computer simulation, in which 6 mobile robots with mass and friction traverse in a workspace with 6 obstacles.

• 제어로봇시스템학회논문지
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• 제9권1호
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• pp.63-72
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• 2003

A new 6-DOF parallel haptic device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism can generate 6-DOF reflecting force. This device is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design is performed for this mechanism. Dexterous workspace, global isotropic index, and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multi-criteria optimization problem. composite design index is employed. For the given operational specifications, actuator sizing for this mechanism is also carried out.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.621-625
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• 2005

This paper presents a new hybrid serial-parallel robot(HSPR), which has six degrees of freedom driven by ball screw linear actuators and motored joints. This hybrid robot design presents a compromise between high rigidity of fully parallel manipulators and extended workspace of serial manipulators. The hybrid robot has a large, singularity-free workspace and high stiffness. Therefore, the presented kinematic structure of the hybrid robot is particularly suitable for multi-tasking machining processes such as milling, drilling, deburring and grinding. In addition to the machining processes, the hybrid robot can be used for welding, fixturing, material handling and so on. The study on design of the hybrid robot is performed. A kinematic analysis and mechanism description of the hybrid robot with six-controlled degree of freedom is presented. In the virtual design works by DADS, workspace and force analysis are discussed. A numerical model is treated to demonstrate our analysis and to determine the range of permissible extension of the struts. Also, we determine some important design parameters for the hybrid robot.