• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.2
• /
• pp.184-191
• /
• 2003

A parallel manipulator has high stiffness and all the joint errors on the device are not accumulated at the end -effector unlike a serial manipulator. These are the reasons why the parallel manipulator has been widely used in many fields of industry. In the parallel manipulator, it is very important to predict the exact pose of the end-effector when we want to control the end-effector motion. Installation errors have to be determined in order to predict and control the actual position and pose of the end-effector. This paper presents an algorithm to find the whole 36 joint error components with joint clearance errors and measurement errors considered, when a link length measurement sensor is used and data more than 36 times are acquired for 36 different configurations. A simulation test using this algorithm is performed with a Matlab program which uses the Levenberg-Marquardt method that is known to be efficient for non-linear optimization.

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.55 no.12
• /
• pp.633-639
• /
• 2006

High temperature superconductor (HTS) winding coil is one of the key component in superconducting device fabrication. Double-pancake style coils are widely used for such application. High resistance between pancake coils greatly affects the machine design, operating condition and thus the stability. In order to reduce such resistance, experimentalists are looking for efficient and damage free coil connecting methods. In this respect, here we proposed parallel joining method to connect the coils. This is to do crossly joining with HTS tapes on two parallel HTS tapes. Joint samples between two parallel HTS tapes were prepared by using HTS tapes and current-voltage (I-V) characteristic curves were investigated at liquid nitrogen temperature i.e., 77.3 K. A 20 cm length joint connected between two parallel HTS tapes shows $32.5n{\Omega}$, for currents up to 250 A. A small HTS magnet, having two double pancake sub-coils connected together through new parallel joint method was fabricated and their current-voltage (I-V) characteristic curve was investigated. At 77.3K, critical current(Ic) of 97 A and resistance of $55n{\Omega}$ for currents upto 130 A were measured. At operating current 86 A lower than Ic, Joule heats generated in whole magnet and at joint region between sub-coils were 226 mW and 0.4 mW, respectively. Low Joule heat generation suggests that this joining method may be used to fabricate HTS magnet or windings.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.531-534
• /
• 1996

In this work, we investigate the characteristics of output compliance matrix of a planar 3 degree-of-freedom parallel mechanism when joint compliances are attached to the mechanism redundantly. It is shown by simulation that by attaching redundant joint compliances symmetrically to the mechanism, the translational and rotational compliances can be arbitrarily modulated within some ranges. This property could be effectively used in the control of the compliance characteristics of actively adjustable RCC devices.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.10 no.4
• /
• pp.1679-1691
• /
• 2016

Successive interference cancellation (SIC) is an effective means of multi-packet reception to combat interference at the physical layer. We investigate the joint optimization issue of channel access and power control for capacity maximization in SIC-enabled wireless networks. We propose a new interference model to characterize the sequential detection nature of SIC. Afterward, we formulize the joint optimization problem, prove it to be a nondeterministic polynomial-time-hard problem, and propose a novel approximation approach based on the genetic algorithm (GA). Finally, we discuss the design and parameter setting of the GA approach and validate its performance through extensive simulations.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.10 no.3
• /
• pp.161-172
• /
• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.2
• /
• pp.181-189
• /
• 2000

This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2011.06a
• /
• pp.801-802
• /
• 2011

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.11a
• /
• pp.211-214
• /
• 2000

An error analysis is very important for a precision machine tool to estimate its performance. This study proposes a new parallel device, a cubic parallel manipulator. Errors of the proposed cubic parallel manipulator include universal joint errors, errors occurring due to changes in the fore directions in the links, and actuation errors. An error analysis is performed for the manipulator platform moving at uniform velocity. The analysis shows how the position and orientation of the platform influences the directional link forces that change the errors in the manipulator. The analysis shows that the method can be used in predicting the accuracy of parallel devices.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.4
• /
• pp.320-328
• /
• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.25 no.5
• /
• pp.354-361
• /
• 2016

Parallel robots are usually used for performing pick-and-place motion to increase productivity in high-speed environments. The present study proposes a high-speed parallel robot and a control approach to improve the tracking performance for the purpose of handling a solar cell. However, the target processes are not limited to the solar cell-handling field. Therefore, a delta-type parallel manipulator is designed, and a ball joint structure is specifically proposed to increase the allowed angle that would meet the required workspace. A control algorithm considering the synchronization between multiple joints in a closed-chain mechanism is also suggested to improve the tracking performance, where the tracking and synchronization errors are simultaneously considered. In addition, a prototype machine with the proposed ball joint is implemented. A satisfactory tracking performance is achieved by applying the proposed control algorithm, with a cycle time of 0.3 s for a 0.1 kg payload.