• Korean Journal of Computational Design and Engineering
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• v.14 no.5
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• pp.291-296
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• 2009

This paper presents a post-processing algorithm for 5-axis machines with three rotary axes (3R-2L type). 5-axis machining needs the postprocessor for converting cutter location (CL) data to machine control (NC) data. The existing methods for post-processing use inverse kinematics equations from for-ward kinematics. However in case of 5-axis machines with three rotary axes, the inverse kinematics equations are not induced directly since the forward kinematics equations are non-linear. In order to get the joint values from the forward kinematics equations, previous algorithms use numerical method for the post-processing, which needs searching algorithms with computation time and may result in fail. This paper proposes a geometric method for the post-processing of 3 rotary type 5-axis machines. Our algorithm has three advantages: first, it does not need establishing forward kinematics equations. Second, it is reliable method that eliminates any numerical methods for the inverse kinematics, resulting in the exact solution. Finally, the proposed algorithm can also be applied to 2R-3L type of 5-axis machines.

• Journal of Biosystems Engineering
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• v.26 no.2
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• pp.163-168
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• 2001

A manipulator for test-cup attachment modules, which was a part of a robot milking system, was developed to reduce cost and labor for cow milking processing. A Cartesian coordinate manipulator was designed for the milking process, because it was quite flexible and can be constructed more economically than any other configuration. The manipulator was made use of DC motors, screws for power transmission, a RS422 interface system for the transmission of coordinate values and a one-chip microprocessor, 89C52. Performance tests of the manipulator were conducted to measure experimentally the precision of all axes. Some of the results are as follows. 1. The Cartesian coordinate manipulator was designed and built. Dimension of the three perpendicular axes (X, Y, and Z) and one arm’s axis(W) to pick up and transfer the modules were 700㎜$\times$450㎜$\times$550㎜$\times$650㎜. The arm’s axis moved the teat-cup attachment module, which attached four teat-cup to four teats, detached four teat-cup from four teats, was designed and manufactured by using CAD, CAM and CNC. 3. After 10 replications of exercising the manipulator, mean precision values(positioning error) of X, Y, Z axes wee 0.48㎜, 0.20㎜, 0.19㎜, respectively. Therefore, we conclude the axes to have a precision better than 0.5㎜, had no problem to operate correctly the milking manipulator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.6
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• pp.783-790
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• 2013

Circular path generation for ball bar measurement using the simultaneous movement of two axes with at least one rotary axis requires the execution of CAM software. However, a change in the machine type or measurement condition requires a new execution of the CAM software, which is cumbersome. This paper presents a circular path generation technique that does not require CAM software and is applicable to different types of driving axes with an arbitrary structural configuration of machine tools and any ball bar setup condition. Mathematical equations are derived for three cases using the proposed technique. In addition, to inspect the measurement feasibility for avoiding physical interference among the ball bar parts, a tilting angle calculation is proposed. The validity of the proposed technique was verified by performing a ball bar experiment with A and C as the simultaneous axes of a five-axis machine tool.

• Imaging Science in Dentistry
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• v.45 no.3
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• pp.159-168
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• 2015

Purpose: This study was performed to compare the metal artifacts from common metal orthodontic brackets in magnetic resonance imaging. Material and Methods: A dry mandible with 12 intact premolars was prepared, and was scanned ten times with various types of brackets: American, 3M, Dentaurum, and Masel orthodontic brackets were used, together with either stainless steel (SS) or nickel titanium (NiTi) wires. Subsequently, three different sequences of coronal and axial images were obtained: spin-echo $T_1$-weighted images, fast spin-echo $T_2$-weighted images, and fluid-attenuated inversion recovery images. In each sequence, the two sequential axial and coronal images with the largest signal-void area were selected. The largest diameters of the signal voids in the direction of the X-, Y-, and Z-axes were then measured twice. Finally, the mean linear values associated with different orthodontic brackets were analyzed using one-way analysis of variation, and the results were compared using the independent t-test to assess whether the use of SS or NiTi wires had a significant effect on the images. Results: Statistically significant differences were only observed along the Z-axis among the four different brands of orthodontic brackets with SS wires. A statistically significant difference was observed along all axes among the brackets with NiTi wires. A statistically significant difference was found only along the Z-axis between nickel-free and nickel-containing brackets. Conclusion: With respect to all axes, the 3M bracket was associated with smaller signal-void areas. Overall, the 3M and Dentaurum brackets with NiTi wires induced smaller artifacts along all axes than those with SS wires.

• Korean Journal of Heritage: History & Science
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• v.52 no.3
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• pp.240-251
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• 2019

This study examined the manufacturing technology used for the flat iron axes excavated from Ulsan Hadae. Their microstructures were analyzed using metallurgical methods. In addition, a variety of manufacturing technologies were examined and compared using existing research materials on flat iron axes. As a result of analyzing ten flat iron axes, which were excavated in the order that they were laid out in a row in one of the wooden coffin tombs at Ulsan Hadae, Tomb No. 44, it was possible to classify the flat iron axe manufacturing technology and system into three types: 'pure iron - shape processing', 'pure iron - shape processing - carburizing', and 'pure iron - shape processing - carburizing - decarburizing.' All of the flat iron axes were produced by forging, and most of them were made by beating the pure iron into their shapes. In particular, a number of the flat iron axes were reinforced through a carburizing process after shaping the iron. This appears as steel products forming the basis of the steel industry at the time were commonly used as an intermediary material or currency. On the other hand, it was commonly found in all samples that the hardening was not performed after shaping or carburizing. Since the microstructure of the flat iron axes made of pure iron contained a large number of impure inclusions and the result of analyzing the components of the non-metal inclusions showed characteristics of slag which contains a mixture of glass phase and wustite, it is possible that low-temperature reduction was used in the refining process.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.1
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• pp.39-49
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• 1995

Stereo vision is useful to obtain three dimensional depth information from two images taken from different view points. In this paper, we reduce searching area for correspondence by using the intra-scanline constraint, and utilize the inter-scanline constraint and the property of disparity continuity among the neighboring pixels for relaxation. Nodes with 3-D stucture are located on the axes of two views, and have matching possibility of correspondent pixels of two images. A matching is accepted if a node at the intersection of the disparity axes has the greatest matching possibility. Otherwise, the matching possibility of the node is updated by relaxation with the cooperation of neighboring nodes. Further relaxation with competition of two views is applied to a matching possibility of randomly selected node. The consensus of two views increases the confidence of matching, and removes a blurring phenomenon on the discontinuity of object. This approach has been tested with various types of image such as random dot stereogram and aerial image, and the experimental results show good matching performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.648-651
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• 2003

This paper presents a 3-axis fine positioning stage. All the procedure concerning the design and fabrication of the stae are described. The stage considered here is composed of flexure hinges, piezoelectric actuators and their peripherals. A special flexure hinge is adopted to be able to actuate the single stage in three axes at the same time. A ball contact mechanism is introduced into the piezoelectric actuator to avoid the cross talk among the axes. The final design is obtained with the theoretical analysis on the stage. An actual fine stage is developed and the design specifications are verified through an experiment.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.10a
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• pp.263-268
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• 1999

The most important things to the tube the of the heat exchanger are the precision of t hole position and the quality of the drill face. Nowadays, 6 and 12 spindle multi-drilling machine controlled by CNC or used to drill holes of the tube sheet. The drilling of 12 axes can offer high speover three times as fast as the drilling of axis. However, the drilling of 12 axes h difficulty in controlling many motors to d spindles and assigning a corresponded numbe accurately to each axis. In the past, conventional method to inspect the code the drilling was machining holes on a thin plate previously which resulted in the productivity because it required a h production cost by machining and weldin time. In this thesis, there are two drilling codes different from CNC code. M code is used to control many motors and S code is used to assign a correspondent number for each axis. For increasing the productivity by removing process, this paper is intended to take simulation of the drill machining c including 6 and 12 axis on the persona computer.

• Journal of the Korean Mathematical Society
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• v.51 no.2
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• pp.403-426
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• 2014

The purpose of this paper is to find expressions of the Fricke spaces of some basic surfaces which are a three-holed sphere ${\sum}$(0, 3), a one-holed torus ${\sum}$(1, 1), and a four-holed sphere ${\sum}$(0, 4). For this goal, we define the involutions corresponding to oriented axes of loxodromic elements and an inner product <,> which gives the information about locations of axes of loxodromic elements. The signs of traces of holonomy elements, which are calculated by lifting a representation from PSL(2, $\mathbb{C}$) to SL(2, $\mathbb{C}$), play a very important role in determining the discreteness of holonomy groups.

• Journal of KSNVE
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• v.9 no.5
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• pp.984-990
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• 1999

This paper presents the geometrical methodology to decouple the vibration modes of an elastically supported single rigid body in three-dimensional space. It is shown that the vibration modes can be decoupled by placing the center of elasticity at suitable locations and thereby yielding the plane(s) of symmetry for the given stiffness matrix. The developed methodology has been applied to the actuator supported by the 4-wire suspensions in optical discs, which has one plane of symmetry. For this numerical example, the axes of vibrations have been computed and illustrated with the natural frequencies. The forced response at the objective lens is represented and its geometrical interpretation has been explained as the mutual moment between the axis of vibration and the applied wrench times the line coordinates of the axis of vibration.