• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.631-637
• /
• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.

• 제어로봇시스템학회논문지
• /
• 제13권4호
• /
• 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.

• 제어로봇시스템학회논문지
• /
• 제18권5호
• /
• pp.487-495
• /
• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• 한국소음진동공학회논문집
• /
• 제15권3호
• /
• pp.251-258
• /
• 2005

The free vibration of a spinning flexible disk-spindle system supported by hydro dynamic bearings (HDB) in an HDD is analyzed by FEM. The spinning flexible disk is described using Kirchhoff plate theory and von Karman non-linear strain, and its rigid body motion is also considered. It is discretized by annular sector element. The rotating spindle which includes the clamp, hub, permanent magnet and yoke, is modeled by Timoshenko beam including the gyroscopic effect. The flexible supporting structure with a complex shape which includes stator core, housing, base plate, sleeve and thrust pad is modeled by using a 4-node tetrahedron element with rotational degrees of freedom to satisfy the geometric compatibility. The dynamic coefficients of HDB are calculated from the HDB analysis program, which solves the perturbed Reynolds equation using FEM. Introducing the virtual nodes and the rigid link constraints defined in the center of HDB, beam elements of the shaft are connected to the solid elements of the sleeve and thrust pad through the spring and damper element. The global matrix equation obtained by assembling the finite element equations of each substructure is transformed to the state-space matrix-vector equation, and the associated eigen value problem is solved by using the restarted Arnoldi iteration method. The validity of this research is verified by comparing the numerical results of the natural frequencies with the experimental ones. Also the effect of supporting structures to the natural modes of the total HDD system is rigorously analyzed.

• 한국광학회지
• /
• 제27권5호
• /
• pp.165-173
• /
• 2016

본 연구는 2개의 라인 레이저를 이용하여 3차원 형상을 획득하는 방법에 대해 제안한다. 제안하는 방법은 532 nm와 630 nm 파장의 레이저를 이용하여 2-라인 레이저를 생성하고 이를 대상객체에 조사하여 반사되는 빛을 영상센서로 획득하는 것을 통해 3차원 점 데이터를 연산한다. 이를 위해 레이저와 카메라 간의 위치를 결정하고 각 레이저의 평면 방정식 계수를 추정하며 삼각법을 통해 이미지 공간의 라인을 3차원 공간의 점으로 변환한다. 제안하는 시스템은 2개의 라인 레이저와 데이터 정합을 위한 스태핑 모터 제어부와 영상을 획득하고 레이저의 라인을 추출하는 영상처리부, 그리고 추출된 라인으로부터 3차원 점 데이터를 처리하고 3D 모델을 생성하는 3D 모델링부로 나뉜다. 제안하는 방법은 기존 단일 레이저 스캐닝 방식과 비교하여 가려짐으로 인해 발생하는 데이터 소실문제를 해결할 수 있다.

• 한국기계가공학회지
• /
• 제19권7호
• /
• pp.41-51
• /
• 2020

This paper presents the development of a robotic system for rehabilitation of the trunk's ability to maintain postural control under different balance conditions. The system, developed with extensive input from rehabilitation and biomedical engineering experts, consists of a seat mounted on a robotic mechanism capable of moving it with four degrees of freedom (3 rotational and 1 translational). The seat surface has built in instrumentation to gauge the movements of the user's center of pressure (COP) and it can be moved either to track the movements of the COP or according to operator given commands. The system allows two types of leg support. A ground mounted footrest allows participation of legs in postural control while a seat connected footrest constrains the leg movement and limits their involvement in postural control. The design evolution over several prototypes is presented and computer aided structural analysis is used to determine the feasibility of the designed components. The system is pilot tested by a stroke patient and is determined to have potential for use as a trunk rehabilitation tool. Future works involve more detailed studies to evaluate the effects of using this system and to determine its efficacy as a rehabilitation tool.

• 한국소음진동공학회논문집
• /
• 제25권7호
• /
• pp.487-495
• /
• 2015

A generalized special program called planetary transmission analysis(here in after PTA) is developed to improve planetary gear noise in automatic transmission. PTA is capable of analyzing any typical one-degree-of-freedom automatic transmission gear train containing any number of simple, compound or complex-compound planetary gear sets. The kinematics module in PTA can compute the rotational speeds of gears and carriers and calculate the order frequencies to predict the planetary noise components. The power flow analysis module performs a complete static force analysis providing forces, moments, or torques of gears, bearings, clutches and connections. Based on the given type and number of planetary gear sets, the search algorithm determines all possible kinematic configurations and gear tooth combinations in a required set of gear ratios, while eliminating whole kinematic redundancies and unfavorable clutching sequences. By using PTA program, planetary internal speeds of new developed automatic transmission are early obtained; therefore, possibility of the noise problem could be predicted in early design stage. As implementing PTA in planetary gear NVH development procedure, planetary gear noise was successfully reduced by 10 dBA.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2003년도 추계학술대회논문집
• /
• pp.572-578
• /
• 2003

The free vibration of a spinning flexible disk-spindle system supported by hydro dynamic bearings in a HDD is analyzed by FEM. The spinning flexible disk is described using Kirchhoff plate theory and von Karman non-linear strain, and its rigid body motion is also considered. It is discretized by annular sector element. The rotating spindle which includes the clamp, hub, permanent magnet and yoke, is modeled by Timoshenko beam including the gyroscopic effect. The flexible supporting structure with a complex shape which includes stator core, housing, base plate, sleeve and thrust pad is modeled by using a 4-node tetrahedron element with rotational degrees of freedom to satisfy the geometric compatibility. The dynamic coefficients of HDB are calculated from the HDB analysis program, which solves the perturbed Raynolds equation using FEM. Introducing the virtual nodes and the rigid link constraints defined in the center of HDB, beam elements of the shaft are connected to the solid elements of the sleeve and thrust pad through the spring and damper element. The global matrix equation obtained by assembling the finite element equations of each substructure is transformed to the state-space matrix-vector equation, and the associated eigenvalue problem is solved by using the restarted Arnoldi iteration method. The validity of this research is verified by comparing the numerical results of the natural frequencies with the experimental ones. Also the effect of supporting structures to the natural modes of the total HDD system is rigorously analyzed.

• 제어로봇시스템학회논문지
• /
• 제22권8호
• /
• pp.585-589
• /
• 2016

Recently, the robotic assist system for cardiovascular intervention gets continuously growing interest. The robotic cardiovascular intervention systems are largely two folds, systems for cardiac ablation procedure assist and systems for vascular intervention assist. For the systems, the clinician controls the catheter inserted through blood vessel to the heart via a master console or master manipulator. Most of the current master manipulators have structure of joystick-like pivoting 2 degree of freedom (DOF) handle in the core, which is used in parallel with other sliding switches and input devices. It however is desirable to have customized and optimized design manipulator that can provide clinician with intuitive control of the catheter motion fully utilizing the advantage of the use of robotic structure. A 6 DOF kinematic mechanism that can capture the motion control intention of the clinician in translational 3 DOF and rotational 3 DOF is proposed in this paper. Also, a master-slave motion relationship specially designed for the cardiac catheter manipulation motion is proposed and implemented in an experimental prototype. Design revision for implementation of more efficient motion and experiment in combination with an experimental slave robot system for catheter manipulation are underway.

• 대한화학회지
• /
• 제20권5호
• /
• pp.351-357
• /
• 1976

진공미량저울을 써서 Spheron 6 (흑연카아본블랙)와 Alucer M.A. (Alumina) 위에서의 벤젠과 p-크실렌의 흡착등온곡선을 여러 온도에서 얻었다. 이로부터 이 두 흡착질의 흡착분자단면적이 온도에 어떻게 의존하는가를 알아 보았다. 흑연표면에서 p-크실렌은 $19^{circ}C$이하에서 촘촘하게 쌓인 편재흡착을 하고 $19.2^{circ}C$이상의 높은 온도에서는 제한된 회전을 하는 편재흡착을 한다. 이것으로 미루어 보아 벤젠, 및 간단한 벤젠유도체들도 낮은 온도에서는 촘촘하게 쌓인 편재흡착을 하고 높은 온도에서는 제한된 회전을 하는 편재흡착을 일으킨다고 생각된다. 한편 Alucer M.A. 표면에서는 이들 흡착질 분자의 흡착단면적이 온도증가에 따라 점차적으로 증가하여, 이들 흡착질 분자가 편재화되어 있지 않음을 나타내었다.