• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2501-2513
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• 1994

In this paper, a compact, light-weight, universal, spherical 3-degree-of-freedom, parallel-structured manual controller with high reflecting-force capability is implemented. First, the position analysis, kinematic modeling and analysis, force reflecting transformation, and applied force control schemes for a parallel structured 3 degree-of-freedom spherical system have been described. Then, a brief description of the system integration, its actual implementation hardware, and its preliminary analysis results are presented. The implemented parallel 3 degree-of-freedom spherical module is equipped with high gear-ratio reducers, and the friction due to the reducers is minimized by employing a force control algorithm, which results in a "power steering" effect for enhanced smoothness and transparency (for compactness and reduced weight).d weight).

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.781-786
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• 1996

In this paper, output precision characteristic of planar 3 and 6 degree-of-freedom parallel mechanisms are investigated. The 6 degree-of-freedom mechanism is formed by adding an additional small link along with an actuated joint in each of serial subchain of the 3 degree-of-freedom mechanism. First, kinematic analysis for two parallel mechanisms are performed, then their first-order kinematic characteristics are examined via isotropic index and minimum velocity transmission ratio of the mechanisms. It can be concluded that the planar 6 degrees-of-freedom parallel mechanism can be very effectively employed as a high-precision macro-micro manipulator from the analysis results when its link lengths are properly chosen.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.213-216
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• 1996

This paper studies a class of in-parallel manipulators with special geometry where the forward displacement analysis problem can be solved easier than the fully parallel manipulators. Three horizontal links of this mechanism provide 3DOFs(Degrees of Freedom), which are one degree of orientational freedom and two degrees of translatory freedom. Three vertical links of this mechanism provide 3DOFs, which are two degrees of orientational freedom and one degree of translatory freedom. The main advantages of this manipulator, compared with the Stewart platform type, are the capability to produce pure rotation and to predict the motion of the moving platform easily. Since this manipulator has simple kinematic characteristics compared with the Stewart platform, controlling in real-time is possible due to less computational burden. The purpose of this investigation is to develope an analytical method and systematic method to analyze the basic kinematics of the manipulator. The basic kinematic equations of the manipulator are derived and simulation is carried out to show the performance of the mechanism.

• Journal of the Korean School Mathematics Society
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• v.23 no.3
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• pp.239-257
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• 2020

This study analyzes the degree of freedom with three aspects: as academic knowledge, in the curriculum focused on textbooks, and students' understanding of the degree of freedom. The results provide five critical points. First, we need discussions on whether to include the degree of freedom in the curriculum. Second, we need to reconsider the current way textbooks are described. Third, there should be a didactical analysis to advance students' understanding of the concept of the degree of freedom. Fourth, there are limitations in learning the concept of the degree of freedom in the current textbook learning environment. Fifth, a didactical check of sampling distribution such as sample mean, sample variance, and sample standard deviation is required. The implications were drawn that the emphasis on statistical reasoning education in the curriculum and careful consideration of introducing the t-distribution curriculum was required.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1999.04a
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• pp.234-241
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• 1999

In this study, an improved 8-node flat shell element is presented for the analysis of shell structure, by combining 8-node membrane element with drilling degree-of-freedom and 8-node plate bending element based on the recently presented technique. Firstly, 8-node membrane element designated as CLM8 is presented in this paper. The element has drilling degree-of.freedom in addition to transitional degree-of-freedom. Therefore the element possesses 3 degrees-of-freedom per each node which as well as the improvement of the element behavior, permits an easy connection to other element with rotational degree-of -freedom. Secondly. 8-node flat shell element was composed by adding 8-node Mindlin plate bending element to the membrane element. The behavior of the introduced plate bending element is further improved by combined use of nonconforming displacement modes, selectively reduced integration scheme and assumed shear strain fields. The element passes in the patch test, doesn't show spurious mechanism and doesn't produce shear locking phenomena. Finally, Numerical examples are presented to show the performance of flat shell element developed in the present study.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.360-371
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• 1998

In this paper, output precision characteristics of a planar 6 degree-of-freedom parallel mechanisms are investigated, where the 6 degree-of-freedom mechanism is formed by adding an additional link along with an actuated joint in each serial subchain of the planar 3 degree-of-freedom parallel mechanism. Kinematic analysis for the parallel mechanism is performed, and its first-order kinematic characteristics are examined via kinematic isotropic index, maximum and minimum input-output velocity transmission ratios of the mechanisms. Based on this analysis, two types of planar 6 degrees-of-freedom parallel manipulators are selected. Then, dynamic characteristics of the two selected planar 6 degree-of-freedom parallel mechanisms, via Frobenius norms of inertia matrix and power modeling array, are investigated to compare the magnitudes of required control efforts of both three large actuators and three small actuators when the link lengths of three additional links are changed. It can be concluded from the analysis results that each of these two planar 6 degrees-of-freedom parallel mechanisms has an excellent control-in-the-small characteristics and therefore, it can be very effectively employed as a high-precision macro-micro manipulator when both its link lengths and locations of small and large actuators are properly chosen.

• International Journal of Highway Engineering
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• v.9 no.3
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• pp.91-100
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• 2007

The most important thing for driver's safety on the road is equipment of crash cushion as a vehicle protection safety facility. But development of crash cushion is defective because there's no rational and reality way of design. And also without an alternative plan, it rely on crash test hereby it suffers a great economic loss and wastes time. This study that uses data of cash test proves the suitability of single degree of freedom which considers the safety of passengers about three-dimensional complicated Crash Analysis. As the study analyzes the conduct of crash cushion, it want to develop the effective method of design on Single Degree of Freedom Crash Cushion. And it presents the way of crash cushion design through making a crash analysis model with single degree of freedom. To verify the validness of the crash cushion plan, with single degree of freedom plan, we make the level CC2 crash cushion and execute the crash test. A performance test brings satisfied result and a plan of single degree of freedom crash cushion is proven as an one of the way to be a good system which can design crash cushion.

• Journal of Electrical Engineering and Technology
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• v.12 no.3
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• pp.1227-1234
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• 2017

The two-degree-of-freedom direct drive induction motor, which is capable of linear, rotary and helical motion, has a wide application in special industry such as industrial robot arms. It is inevitable that the linear motion and rotary motion generate coupling effect on each other on account of the high integration. The analysis of this effect has great significance in the research of two-degree-of-freedom motors, which is also crucial to realize precision control of them. The coupling factor considering the coupling effect is proposed and addressed by 3D finite element method. Then the corrected mathematical model is presented by importing the coupling factor. The results from it are verified by 3D finite element model and prototype test, which validates the corrected mathematical model.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.1
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• pp.9-16
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• 1997

The method of designing robust two degree of freedom(2 DOF) controllers for linear systems with parameter uncertainties and unmodeled dynamics is presented in this paper. Robust performance condition that accounts for robust model matching of closed loop system and disturbance rejection is derived. Using the robust performance condition, the feedback controller is designed to meet robust stability and disturbance rejection specifications, while prefilter is used to improve the robust model matching properties. The $H^{\infty}$ and $\mu$ controller for six degree of freedom vehicle with parameter variations are designed and compared. Simulations for hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.341-345
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• 1996

Many mechanical and electrocal systems use the number of motors to make multi degree of freedom motion. One method to reduce the number of motors is suggested by using the 3 D.O.F. motor. The 3 D.O.F. motor has advantages such as downsize, weight reduction, and simplification of the existing 3 D.O.F. systems. In this study, a mathematical model for the 3 D.O.F. motor is suggested and the dynamic equation is derived to analyze the 3 D.O.F. motion. Generallinear control methods are very hard to get the good performance because of the nonlinear terms of each degree of each degree of freedom. To control the motion properly, the nonlinear terms are decoupled using a feedback control law. Nonlinear feedback control law which can arrage the poles arbitrarily is derived. The effects of the gains are examined through computer simulations.