• 한국정밀공학회지
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• 제32권6호
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• pp.543-551
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• 2015

In this study, a novel method for dimension measurement of large-scale moving objects using stereo camera with 2-degree of freedom (2-DOF) mechanism is presented. The proposed method utilizes both the advantages of stereo vision technique and the enlarged visibility range of camera due to 2-DOF rotary mechanism in measuring large-scale moving objects. The measurement system employs a stereo camera combined with a 2-DOF rotary mechanism that allows capturing separate corners of the measured object. The measuring algorithm consists of two main stages. First, three-dimensional (3-D) positions of the corners of the measured object are determined based on stereo vision algorithms. Then, using the rotary angles of the 2-DOF mechanism the dimensions of the measured object are calculated via coordinate transformation. The proposed system can measure the dimensions of moving objects with relatively slow and steady speed. We showed that the proposed system guarantees high measuring accuracy with some experiments.

• Earthquakes and Structures
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• 제15권5호
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• pp.463-471
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• 2018

The virtual forces of the original local flexibility method are restricted to inducing stress on the local parts of a structure. To circumvent this restriction, we developed a pseudo local flexibility (PLFM) method that can successfully detect damage to hyperstatic beam structures using fewer modes. For this study, we further developed the PLFM so that it could detect damage in plate structures. We also devised the theoretical background for the PLFM with non-local virtual forces for plate structures, and both the lateral and rotary degree of freedom (DOF) measurements were considered separately. This study investigates the effects of the number of modes, the actual location that sustained damage, multiple damage locations, and noise in modal parameters for the damage detection results obtained from damaged numerical plates. The results revealed that the PLFM can be used for damage detection, localization, and quantification for plate structures, regardless of the use of the lateral DOF and/or rotary DOF.

• 한국산업융합학회 논문집
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• 제23권5호
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• pp.875-880
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• 2020

In this paper, a novel 3-DOF hybrid robot with enlarged workspace is presented for high speed applications. The 3-DOF hybrid robot is made up of one linear actuator and 2-DOF planar parallel robot in series. The actuation consists of one ball-screw to make one linear motion and two rotary ball-screws to transmit rotational motion to 2-DOF parallel robot. The workspace can be enlarged according to ball-screw stroke and the moving inertia can be reduced due to locating all the heavy actuators at the fixed base. The inverse kinematics and workspace analyses are presented. The robot prototype and PC-based control system are developed.

• 한국정밀공학회지
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• 제32권2호
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• pp.127-133
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• 2015

The error motion of a machine tool spindle directly affects the surface errors of machined parts. Those are usually due to the imperfectness of bearings, stiffness of spindle, assembly errors, external force or unbalance of rotors. The error motions of the spindle have been needed to be decreased to desired goal of spindle's performance. The level of error motion is needed to be estimated during the design and assembly process of the spindle. In this paper, the estimation method for the five degree of freedom (5 D.O.F) error motions for rotary units such as a spindle and rotary table are suggested. To estimate the error motions of the rotary unit, waviness of bearings and external force model were used as input data. The estimation model considers geometric relationship and force equilibrium of the five degree of the freedom motions.

• Structural Engineering and Mechanics
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• 제43권1호
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• pp.15-30
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• 2012

A damped Timoshenko beam element is introduced for the DOF-efficient forced vibration analysis of beam-like structures coated with viscoelastic damping layers. The rotary inertia as well as the shear deformation is considered, and the damping effect of viscoelastic layers is modeled as an imaginary loss factor in the complex shear modulus. A complex composite cross-section of structures is replaced with a homogeneous one by means of the transformed section approach in order to construct an equivalent single-layer finite element model capable of employing the standard $C^{0}$-continuity basis functions. The numerical reliability and the DOF-efficiency are explored through the comparative numerical experiments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.197-203
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• 2005

This paper presents kinematic calibration of parallel manipulators with partial pose measurements using a device that measures a rotation of the end-effector along with its position. The device contains an LVDT, a biaxial inclinometer, and a rotary sensor and facilitates automation of the measurement procedure. The device is designed in a modular fashion and links of different lengths can be used. The additional kinematic parameters required for the measurement device are discussed, kinematic relations are derived, and cost function is established to perform calibration with the proposed device. The study is performed for a six degree-of-freedom(DOF) fully parallel HexaSlide Mechanism(HSM). Experimental results show significant improvement in the accuracy of the HSM.

• 한국자동차공학회논문집
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• 제4권4호
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• pp.38-45
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• 1996

Power steering systems play an important role for the vehicle handling characteristics and driver's steering center feeling during straightforward driving situation. In this paper, the rotary valve, the main component of power steering systems, is modeled and analyzed, and is combined with a 3-DOF(degree of freedom) lateral dynamics model of passenger cars to examine the effects of design parameters on the vehicle steering characteristics. The results can be applied to the development of advanced power steering systems for passenger cars such as electronically-con-trolled power steering system.

• 반도체디스플레이기술학회지
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• 제6권4호
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• pp.23-27
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• 2007

Rotary stages in semiconductor, display industry and many other fields require challenging accuracy to perform their functions properly. Especially, Axis of rotation error on rotary system is significant; such as the spindle error motion of the aligner, wire bonder and inspector machine which result in the poor quality products. To evaluate and improve the performance of such precision rotary stage, undesired movements on the other 5 degrees of freedom of the rotary stage must be measured and analyzed. In this paper, we have measured the three translations and two tilt motions of the worm gear type spindle with high precision capacitive sensors. To obtain the radial error motion, we have used Donaldson's reversal technique. And the axial components of the spindle tilt error motion can be obtained accurately from the axial direction outputs of sensors by Estler face motion reversal technique. Further more we have designed and developed the sensor mounting jig with standard cylinder for reversal method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1717-1722
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• 2003

In this paper we developed flip-chip bonder using XY stage, liner-rotary actuator and vision system. We depicted the major parts of the developed flip-chip bonder. Then we discussed several problems and their solutions such as vision and motion control, pick-up module position accuracy, separation of chip from the blue taped hoop, etc. We used a post guide to improve the horizontal positional accuracy against the long arm. Also, we used an ejector module and synchronization technique for easy chip separation from the blue tape.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.244-244
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• 2000

We proposed the above-knee prosthesis using rotary MR damper in which knee joint is semi-actively controlled by microprocessor. Dissipation torque in the knee joint can be controlled by the magnetic field which is induced by applying current to a solenoid, Tracking control of knee joint angle was tested by 3-DOF Leg simulator. The experimental results show that the proposed above-knee prosthesis system had good performance in swing phase tracking and repetitive controller in conjunction with a computed control law and PD control law, reduced RMS tracking error as the repetitions of tracking. Moreover, desired knee angle trajectory was generated based on the estimation of gait period with the gyro signal and the tracking control was performed.