• Journal of Mechanical Science and Technology
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• v.20 no.10
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• pp.1614-1625
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• 2006

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix for each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. Finally, the kinematic optimization of the mechanisms is performed in consideration of their dexterity and rigidity. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.12 s.255
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• pp.1564-1572
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• 2006

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix of each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. .Finally, the kinematic optimization of the mechanisms is performed with regards to their dexterity, stiffness and space utilization. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1045-1049
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• 2005

In this paper, the dynamic crawling of a five-bar planar mechanism is investigated. One complete cycle of the crawling selected in this study consists of four different steps, i) sliding at one contact point between the mechanism and the ground, ii) changing its configuration without sliding at two contact points, iii) sliding at the other contact point, and iv) again changing its configuration without sliding at two contact points. In this type of crawling, the crawling mechanism maintains the shape of the parallel structure throughout a complete crawling cycle. The modeling algorithm for serial manipulators proposed by M. Thomas and et al.[1] is employed by introducing imaginary joints and links which represent the contact interfaces between the one end of the mechanism and the ground, while the other end of the mechanism is regarded as an end-effector of the imaginary serial manipulator which treats the reaction force and torque at the contact point as external forces. Then, a complete cycle of dynamic crawling of the mechanism is investigated through various computer simulations. The simulation result show that the stable crawling characteristics of the mechanism could be secured when the proper configurations depending on specified frictional constraints are met.

• The Journal of Engineering Geology
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• v.17 no.2 s.52
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• pp.289-297
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• 2007

Slope failure that is occurred by rainfall generates a lot of property damages and loss of lives. Slope stability management and reinforcement countermeasure can be attained through continuous monitoring about various slope types that adjoin in human's life for reducing slope failure from natural and artificial cut slope hazards. The study area is rock slope that is consisted of gneiss, and large scale joint set is ranging by fault activity. This rock mass is exposed during long period and has lithological weathering property of weathered rock or soft rock. In-situ investigation carried out after divide by natural slope and cut slope. As a result, the natural slope appeared to high possibility of planar failure and wedge failure in few joint points that main joint set is formed. On the other hand, slope failure conformation in cut slope was superior only wedge failure occurrence possibility in eight joint points. In result of numerical analysis using SLIDE 2D, the minimum safety factor was analyzed slope stability for cut slope relatively low than natural slope in this study.

• Economic and Environmental Geology
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• v.42 no.4
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• pp.357-366
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• 2009

Since weathering weakens the rock fabric and exaggerates any structural weakness, it affects mechanical properties as well as physical and chemical properties of rock. Weathering leads to a decrease in density, strength, friction angle and cohesion, and subsequently it affects negatively on the stability of rock slope. The purpose of the study is to investigate the changes of the rock slope stability caused by discontinuities which have different weathering grades. For that, the discontinuity samples which are divided into two different weathering grades are obtained from the field and tested their mechanical properties such as JCS, JRC and residual friction angle. In order to evaluate the effects on the stability of slope due to weathering, the deterministic analysis is carried out. That is, the factors of safety for planar failure are calculated for rock masses which have two different weathering grades, such as fresh and weathered rock mass. However, since the JRC and friction angle values are widely scattered and the deterministic analysis cannot consider the variation, the factors of safety cannot represent properly the stability of the rock slope. Therefore, the probabilistic analysis has been used to consider the scattered values. In the deterministic analysis, the factors of safety for the fresh discontinuity and weathered discontinuity are 1.25 and 1.0, respectively. The results indicate the fresh discontinuities are stable for planar failure and the weathered discontinuities are marginally stable. However, the probabilities of failure for the fresh discontinuity and weathered discontinuity are 25.6% and 45.9%, respectively. This shows that both discontinuities are analyzed as unstable in the probabilistic analysis.

• Journal of Conservation Science
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• v.37 no.5
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• pp.505-515
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• 2021

In this study, we evaluated the slope stability of the Pohang Daljeon-ri columnar joint (Natural Monuments # 415) and calculated the maximum energy, jumping height and moving distance of rockfalls using a simulation. Based on the results, we established the range of rockfall risk. The slopes of the Pohang Daljeon-ri columnar joint have dip directions of 93.79°, 131.99°, 165.54° and 259.84° from left (SW) to right (NE). Furthermore, they have a fan-like shape. The Pohang Daljeon-ri columnar joints are divided into four sections depending on the dip direction. The measurement results of the discontinuous face show that zone 1 is 125, zone 2 is 261, zone 3 is 262, zone 4 is 43. The results of slope stability analyses for each section using a stereographic projection method correspond to the range of planar and toppling failure. Although it is difficult to diagnose the type of failure, risk evaluation of currently falling rocks requires further focus. The maximum movement distance of a rockfall in the simulation was approximately 66 m and the rockfall risk range was the entire area under slope. In addition, it is difficult to forecast where a rock will fall as it rolls in various directions due to topographic factors. Thus, the installation of measures to prevent falling is suggested to secure the stability based on the results of the rockfall simulations and its probabilistic analysis.

• 한국체육학회지인문사회과학편
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• v.55 no.6
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• pp.749-757
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• 2016

The purpose of this study was to investigate the effect of stability on one leg standing posture in yoga practice. Thirteen women college student who have never done yoga participated in this study. In order to collect data before and after yoga practicing for two years, we were used 3D motion capture system and electromyography. The results were as follows. First, ranges of motions for Y axis of left knee joint and X axis of right ankle joint were significantly different in dancer posture(p<.05), and then X axis of right ankle and Y axis of left ankle joint were significantly different in tree posture of pre and post training. Second, the planar alignment angle of trunk-pelvis was not significant difference in dancer and tree posture. Third, CoM-distances of Y, Z directions were significant difference in the tree posture(p<.05). Fourth, Muscle activities of both rectus abdominis, erector spinae and left quadriceps were significant difference in tree posture(p<.05). These findings suggested that yoga training played important roles in stable postures as results of decreasing rotation ankle joint and movement of CoM and enforcing core muscles. This study provides evidence for effectiveness of the stability on standing posture and can get a great effect on posture correction by means of yoga training. Hereafter, study on alignment angle, which is a measurement of postural stabilization will be needed by future yoga training.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.19 no.6
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• pp.169-174
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• 2019

Flexure joints are recently used in the ultra-precision mechanism for a telecommunication mirror stage. Flexure joints have several advantages coming from their monolithic characteristics. They can be used to reduce the size of manipulators or to increase the precision of motion. In our research, 6 dof(degree of freedom) mechanism is suggested for micrometer repeatability using a flexure mechanism. To design the 6-dof motion, the 2-dof planar mechanism are designed and assembled to make the 6-dof motion. To achieve a certain performance, it is necessary to define the performance of mechanism that quantifies the characteristics of flexure joints. This paper addresses the analysis and design of the 6-dof parallel manipulator with a flexure joint using a finite element analysis tool. To obtain experimental result, CCD laser displacement sensor is used for the total displacement and the stiffness for the 6-dof flexure mechanism.

• Smart Structures and Systems
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• v.20 no.2
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• pp.127-137
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• 2017

Identification of damping characteristics is of significant importance for dynamic response analysis and condition assessment of structural systems. Damping is associated with the behavior of the energy dissipation mechanism. Identification of damping ratios based on the sensitivity of dynamic responses and the model updating technique is investigated with numerical and experimental investigations. The effectiveness and performance of using the sensitivity-based model updating method and vibration monitoring data for damping ratios identification are investigated. Numerical studies on a three-dimensional truss bridge model are conducted to verify the effectiveness of the proposed approach. Measurement noise effect and the initial finite element modelling errors are considered. The results demonstrate that the damping ratio identification with the proposed approach is not sensitive to the noise effect but could be affected significantly by the modelling errors. Experimental studies on a steel planar frame structure are conducted. The robustness and performance of the proposed damping identification approach are investigated with real measured vibration data. The results demonstrate that the proposed approach has a decent and reliable performance to identify the damping ratios.

• Journal of Electrical Engineering and Technology
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• v.12 no.2
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• pp.926-936
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• 2017

The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, real-time execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared to test the robot's dynamic model: predictive; hyperbolic sine-cosine; sliding mode; hybrid composed of a predictive + hyperbolic sine-cosine controller; and adaptive controller. A redundant robot, a communication and signal conditioning interface, and a simulator are developed by means of the MatLab/Simulink software, which allows analyzing the dynamic performance of the robot and of the designed controllers. The manipulator robot is made to follow a test trajectory which, thanks to the proposed controllers, it can do. The results of the performance of this manipulator and of its controllers, for each of the three joints, are compared by means of RMS indices, considering joint errors according to the imposed trajectory and to the controller used.