• Proceedings of the KSME Conference
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• 2000.11a
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• pp.535-540
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• 2000

This paper presents the development of a Parallel-Typed CNC Machining Tool. It is specially designed to machine a complex shaped workpiece by controlling the orientation of the tool. The inverse/direct kinematics of a parallel mechanism is derived and implemented in a PC based controller. With graphics icons, the GUI (Graphic User Interface) program is developed for the CNC programing. The calibration is accomplished by geometric constraint motion, which is a parallel motion of the platform with respect to a table. The calibration result is introduced and the future study is proposed.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.2
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• pp.171-177
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• 2010

This paper presents the development of a new 6-DOF parallel-kinematic motion simulator. The moving platform is connected to the fixed base by six P-S-U (Prismatic-Spherical-Universal) serial chains. Comparing with the well-known Gough-Stewart platform-type motion simulator, it uses commercialized linear actuators mounted at the fixed base whereas a 6-UPS manipulator uses telescopic linear ones. Therefore, the proposed motion simulator has the advantages of easier fabrication and lower inertia over a 6-UPS counterpart. Furthermore, since most forces acting along the legs are transmitted to the structure of linear actuators, smaller actuation forces are required. The inverse position and Jacobian matrix are analyzed. In order to further increase workspace, inclined arrangement of universal joints is introduced. The optimal design considering workspace and force transmission capability has been performed. The prototype motion simulator and PC-based real-time controller have been developed. Finally, position control experiment on the prototype has been performed.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2001.05a
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• pp.48-53
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• 2001

가상현실에 대한 인간의 감성인자를 고려한 재현용 시스템들은 컴퓨터 및 주변장치의 발달과 더불어 다각적인 방향으로 개발되었다. 가상현실의 환경을 조성하기 위해서는 인간의 감성인자들에 대한 연구가 필요하다. 본 연구는 이러한 가상현실 환경에서의 인간의 감성인자들 중 인체의 운동 감성인자를 연구하여, 가상현실의 운동 환경을 가장 효과적으로 재현할 수 있도록 하는 데 그 목적을 두고 있다. 즉 가상현실 환경에서의 운동감을 야기시키는 운동시스템 운동판의 최적의 운동을 발생시킬 운동명령을 생성하는 워시아웃 알고리즘(Washout Algorithm)의 물리적 특성을 연구하고, 워시아웃 알고리즘 내부의 고역필터들의 계수 의미를 파악하여 워시아웃 알고리즘에 의해 생성된 운동명령을 최선의 운동명령으로 보정키 위한 방법을 연구하고자 하였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.2
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• pp.467-475
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• 1998

The Six Degree-of-Freedom manipulators are generally operated by linear actuators which are hydraulic cylinder, pneumatic cylinder, ball-screw. But these actuators are not adequate to have a wide work-space, and furthermore some of them have a self-locking property. Therfore, we have designed a new manipulator which fully overcomes these demerits. The new manipulating system consists of 6 DC-motors to generate operation forces and 6 position transducers to feedback displacement signals. This paper presents an overview of the design and characteristics of 6 Degree-of-Freedom force feedback manipulators for vitual reality implementation. we can operate Six Degree-of-Freedom manipulator with six motors and six potentiometers.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1099-1105
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• 2000

The interactive bicycle simulator presented in this paper consists of a Stewart platform manipulator, magneto-rheological steering and braking devices, and a visual simulator. To provide a rider with reality, these devices should be controlled in real-time and motions of the devices and the visual should be also synchronized. If any of the devices and the visual gets unsynchronized due to significant blocking of control signals, the reality of the simulator is no longer secured. This paper presents communication protocols that minimize the blocked time of the control processes to guarantee the synchronization. The protocols are designed based on IPC (InterProcess Communications) of QNX, TCP/IP, and serial communication. The performance of the designed communication protocols is evaluated with the implemented bicycle simulator, and found satisfactory.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.756-760
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• 1995

Optimal design of a hybrid parallel robot is investigated. In order to optimize the mechanism, new performance measures are introduced since use of the previous methods suffer form lack of the physical meaning due to the dimensional inhomogeneity. To overcome the problem, an Euclidean norm definition of each output space with homogeneous dimension is used to find input-output norm relation and derive new performance measures for each output spaces, that is, translational and rotational velocity, and derive new torque space. For illustion,the derived performance measures is applied to find the isotropic design of a Stewart platform robot which has condition number measures equal to one.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.711-714
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• 2001

As the life cycle of the vehicle become shorter, the method that reduce the development time of new model become more important. In this reason, the development of the simulator that provides similar environment with the actual vehicle road characteristics is increasing. In this paper, the multi-axis simulator is designed and analyzed by kinematic method. The simulator has a function simulating the 3 load elements; vertical, longitudinal, and lateral force respectively and simultaneously. The result of this paper can be used for developing the multi-axis simulator linkage.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.126.2-126
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• 2001

This paper, the integration of driving simulator and unmanned vehicle by means of new concept for better performance through a tele-operated system is suggested. But autonomous system is one of the most difficult research topics from the point of view of several constrains on mobility, speed of vehicle and lack of environmental information. In these days, however, many innovations on the vehicle provide the appropriate automatic control in vehicle subsystem for reducing human error. This tendency is toward to the unmanned vehicle or the tele-operated vehicle ultimately. This paper describes the motion system ...

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.146-158
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• 1996

This paper develops a robot arm for propeller blade grinding. The grinding work requires a high stiffness robot arm to reduce deformation and vibration which are generated during machining operation. Conventional articulated robots have serial connecting links from the base to the gripper. Thus, they have very weak structure to the stiffness for grinding operation. Stewart Platform is a typical parallel robotic mechanism with very high stiffness but it has small work space and large installation space. This research proposes a new grinding robot arm by combining parallel mechanism with serial mechanism. Therefore, the robot has large range of work space as well as high stiffness. This paper introduces the automatic system for propeller grinding utilizing the robot and the design of proposed robot arm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.715-718
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• 2001

Test in the development of vehicle consist of driving test and simulation test. The last one has many advantages. It can reduce time and cost during development, can overcome the spacial and environmental limitation, and can provides repeatabilities of similar experiments and various data. In these reason, the simulation test is used more for analysis and development of new vehicle. In this research the result of kinematic analysis on multi-axis simulator is compared with the simulated result using dynamic analysis program, ADAMS, and the maximum stress and strain are analyzed for the safety of link and specifications of optimal design using finite element method.