• Journal of Mechanical Science and Technology
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• 제18권5호
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• pp.780-788
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• 2004

To avoid the unit inconsistency problem in the conventional Jacobian matrix, new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points was presented (Kim and Ryu, 2003). This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived unit consistent Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1500-1505
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• 2003

In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, previously we presented new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points based on the velocity relationship [1]. This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived dimensionally homogeneous Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.904-911
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• 2001

A broomstick swinging biped acrobatic controller is designed and simulated to show capability of the system of controllers: virtual model controller is employed for the robot\`s posture balancing control while a higher level fuzzy controller modulate the one of the virtual model controller\`s parameter for the pendulum swinging motion generation. The robot is of 7 degree-of-freedom, 8-link planar bipedal robot having two slim legs and a body. Each leg consists of a hip joint, a knee joint, an ankle joint and the body has a free joint at the top in the head at which a freely rotating broomstick is attached. We assume that the goal for the acrobat robot is to maintain a body balance in the sagittal plane while swinging up the freely up the freely rotating pendulum. We also assume that the actuators in the joints are all ideal torque generators. The proposed system of controllers satisfies the goal and the simulation results are presented.

• Journal of Oral Medicine and Pain
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• 제30권1호
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• pp.107-119
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• 2005

측두하악관절 관절염은 골관절염, 골관절증, 다발성 관절염으로 나뉜다 골관절염과 골관절증은 관절통을 제외하면 그 증상, 징후, 방사선적 특징이 비슷하기 때문에 감별진단이 어렵다. 또한 초기 골관절염의 경우 방사선적 변화가 나타나지 않아서 오진을 할 수가 있다. 골스캔과 단광자방출 전산화 단층촬영은 골의 변화를 초기에 감지하는데 유용하다. 이 연구는 골스캔과 단광자방출 전산화 단층촬영을 이용하여 진단학적인 기준을 제시하기 위하여 시도되었다. 임상검사, 전산화단층 촬영, 골스캔, 단광자방출전산화 단층촬영을 실시한 304개의 측두하악관절을 대상으로 연구하였다. 연구결과 다음과 같은 결론이 도출되었다. 1. 골스캔을 이용하여 측두하악관절을 진단하는데 있어서 20대 환자의 단순섭취율이 1.397% 이상인 경우, 30$\sim$40대 환자의 단순섭취율이 1.332% 이상인 경우에는 골관절염으로 추정해 볼 필요가 있다. 2. 단광자방출 전산화단층 촬영을 이용하여 측두하악관절을 진단하는데 있어서 온점이 관찰되는 관상단면, 횡단면이 4개 이상일 경우에는 골관절염으로 추정해 볼 필요가 있다. 3. 골스캔을 이용하여 측두하악관절을 진단하는데 있어서 20대 환자의 단순섭취율이 1.370% 이상인 경우, 30-40환자의 단순 섭취율이 1.104% 이상인 경우에는 골파괴 과정이 진행중인 것으로 생각해 볼 필요가 있다. 4. 단광자방출 전산화단층 촬영을 이용하여 측두하악관절을 진단하는데 있어서 20대와 30-40대에서 온점이 관찰되는 관상단면이 4개 이상일 경우에는 골파괴 과정이 진행중인 것으로, 모든 연령에서 온점이 관찰되는 횡단면이 3개 이상일 경우에는 골파괴 과정이 진행 중인 것으로 생각해 볼 필요가 있다. 5. 임상적으로 주관적 관절통과 촉진통이 모두 나타난 경우에 골변화가 더욱 활발할 가능성이 높다. 6. 관절음, 관절통, 개구제한의 병력이 4.5개월까지 점차 길어질 수록 측두하악관절은 골관절염으로 점차 악화되고, 그 이후에는 골관절증으로 점차 안정화되는 경향을 보였다.

• 한국지반공학회논문집
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• 제36권12호
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• pp.125-132
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• 2020

암반내의 절리는 암반의 전체적인 역학적 거동에 중요한 역할을 한다. 암반에 대한 수치해석은 절리면의 역학적 물성, 방향성, 간격 그리고 연속성을 정교하게 모델링할수 있어야 한다. 본 논문의 내재적 절리-연속체 접근법은 절리군을 포함한 암반의 역학적 모델을 제시한다. 암반에 대한 강성 텐서는 온전한 암석과 절리군의 역학적 특성으로부터 산정하였다. 이는 온전한 암석과 절리군에 대한 연속적 강성 시스템의 컴플라이언스 텐서 합으로부터 산정할 수 있다. 암반사면의 평면파괴에 대한 수치해석은 기존의 daylight envelope과 측면한계를 적용하는 경험적인 방법과 상당히 일치함을 확인하였다. 개발된 내재적 절리-연속체 모델은 연속체 기반으로 수식화되어 기존의 절리에 대한 열-수리-화학적 실험적 결과들을 실제 수치해석에 적용할수 있을 것이다.

• Journal of Advanced Marine Engineering and Technology
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• 제26권4호
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• pp.432-438
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• 2002

In this paper, we described a technique for the swing-up control of a 2 link acrobat robot using a cannonical form which is derived form the law of conservation of an angular momentum based on the center of the first joint. The wide usefulness of the canonical form of the acrobat robot, which was suggested here, is could also be applied to control a free flying robot or an underactuated planar manipulator with no gravity term. Some simulation results are provided to verify the effectiveness of the proposed algorithm

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.147.3-147
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• 2001

We have proposed a digital control method, where the controlled variable is a joint angular velocity, of space robot manipulators using the transpose of Generalized Jacobian Matrix. The explicit relationship between the control law and the sampling period, however, is unknown because the controller gains include the sampling period implicitly. This paper presents a novel digital control method which explicitly describes the relation between the sampling period and the controller gains. Computer simulation of a 3-DOF planar space robot manipulator is peformed. Simulation result demonstrates the effctiveness of the proposed method.

• 대한인간공학회지
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• 제4권2호
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• pp.25-31
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• 1985

Mechanical energy consumption during human running was studied. The subject was modeled by an eleven segment planar open linkage system and analyzed by Newtonian equations of motion from film data with a sampling rate of 50 Hz. The motion data from films were smoothed by lower 7 harmonics before analysis. And this study was tried for a normal male subject running on a concrete floor. The mechanical energy consumption was evaluated from the five different criteria suggested by others and a joint energy consumption criterion newly devised based on the muscle contraction.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.181-189
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• 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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 춘계학술대회 논문집
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• pp.395-400
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• 1994

Most of Commercial Remote Center Compliance(RCC) devices have been designed using deformable structures. In this work, we propose another type of assembly devices which generate the compliance effects by attaching the compliances (or spring) at the joints of the given mechainsm. The compliance models are derived for a serial-type, parallel-type, and hybrid-type mechanisms, respectively. In particular, a planar three-degree of freedom parallel structure is shown to have RCC points at the center of the workspace for its symmetric configuratings.