• Journal of the Korean Society of Manufacturing Process Engineers
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• v.4 no.1
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• pp.43-48
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• 2005

This paper is described about the technique of ultra-precision machining for an aerospace aspheric mirror. The reflection mirror system generates parallel beams inside a thermal vacuum chamber. A 200mm diameter aspheric mirror was fabricated by SPDTM. Aluminum alloy as mirror substrates is known to be easily machined, but not polishable due to its ductility. Aspheric large reflector without a polishing process, the surface roughness of 10nm Ra, and the form error of ${\lambda}/2$ (${\lambda}$=632.8nm) for reference curved surface 200mm has been required. The purpose of this research is to find the optimum machining conditions for cutting reflector using Al6061-T651 and apply the SPDTM technique to the manufacturing of ultra precision optical components of Al-alloy aspheric reflector.

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.481-485
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• 1987

The fabrication of a micro mass flow sensor on a silicon chip by means of micro-machining technology is described on this paper. The operation of micro mass flow sensor is based on the heat transfer from a heated chip to a fluid. The temperature differences on the chip is a measure for the flow velocity in a plane parallel with the chip surface. An anisotropic etching technigue was used for the formation of the V-type groove in this fabrication. The micro mass flow sensor is made up of two main parts ; A thin glass plate embodying the connecting parts and mass flow sensor parts in silicon chip. This sensor have a very small size and a neglible dead space. Micro mass flow sensor can fabricate on silicon chip by micro machining technology too.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.679-684
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• 2000

This paper presents the development of system and program for a Parallel-Typed CNC Machine. The system consists of parallel manipulator, PC (Personal Computer), DMC (DSP Motion Controller), and machining tools. In order to control the manipulator, the program, which is implemented in "c/c++" language, involves inverse/direct kinematics, velocity mapping, Jacobian and etc. A controller computes the kinematic formulation in real-time and generates and motion by the DMC. A monitor, which has access to program and sensory information, displays the status of manipulator.nipulator.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.06a
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• pp.321-322
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.803-804
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• 2011

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.647-648
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• 2011

• Journal of the Korean Society for Precision Engineering
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• v.16 no.11
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• pp.213-223
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• 1999

In this paper, input-output transmission characteristics of the Eclipse, which is a parallel machine tool capable of 5 face rapid machining, are investigated. By splitting the weighted Jacobian matrix into two parts, the force and moment transmission characteristics together with the velocity and angular velocity transmission characteristics are analyzed. A new manipulability measure, which combines the volume of the manipulability ellipsoid and the condition number of the splitted Jcobian matrix, is proposed. Two link parameters, the ratio of upper and lower platforms' radii and the length of a supporting link of the Eclipse, are designed by applying the new manipulability measure derived. Computer simulations are provided.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.248-255
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• 2016

Machining error makes the uncertainty of dimensional accuracy of the kinematic structure of a parallel robot system, which makes the uncertainty of kinematic accuracy of the end-effector of the parallel robot system. In this paper, the tendency of trajectory tracking error caused by the tolerance of design parameters of the parallel robot is analyzed. For this purpose, all the position errors are analyzed as the manipulator is moved on the target trajectory. X, Y, Z components of the trajectory errors are analyzed respectively, as well as resultant errors, which give the designer of the manipulator the intuitive and deep understanding on the effects of each design parameter to the trajectory tracking errors caused by the uncertainty of dimensional accuracy. The research results shows which design parameters are critically sensitive to the trajectory tracking error and the tendency of the trajectory tracking error caused by them.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1624-1627
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• 1997

The 6-DOF parallel manipulator is a closed-kindmatic chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. Because of its advantage, the parallel manipulator have been widely used in many engineering applications such as vehicle/flight driving simulators, rogot maniplators, attachment tool of machining centers, etc. However, the kinematic analysis for the implementation of a real-time controller has some problem because of the lack of an efficient lagorithm for solving its highly nonliner forward kinematic equation, which provides the translational and orientational attitudes of the moveable upper platform from the lenght of manipulator linkages. Generally, Newton-Raphson method has been widely sued to solve the forward kinematic problem but the effectiveness of this methodology depend on how to set initial values. This paper proposes a hybrid method using genetic algorithm(GA) and Newton-Raphson method to solve forward kinematics. That is, the initial values of forward kinematics solution are determined by adopting genetic algorithm which can search grobally optimal solutions. Since determining this values, the determined values are used in Newton-Raphson method for real time calcuation.

• Journal of Mechanical Science and Technology
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• v.17 no.1
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• pp.23-31
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• 2003

This paper introduces a constraint operator for the kinematic calibration of a parallel mechanism. By adopting the concept of a constraint operator, the movement between two poses is constrained. When the constrained movements are satisfied, the active joint displacements are taken and inputted into the kinematic model to compute the theoretical movements. A cost function is derived by the errors between the theoretical movement and the actual movement. The parameters that minimize the cost function are estimated and substituted into the kinematic model for a kinematic calibration. A single constraint plane is employed as a mechanical fixture to constrain the movement, and three digital indicators are used as the sensing devices to determine whether the constrained movement is satisfied. This calibration system represents an effective, low cost and feasible technique for a parallel mechanism. A calibration algorithm is developed with a constraint operator and implemented on a parallel manipulator constructed for a machining center tool.