• 대한기계학회논문집A
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• 제21권1호
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• pp.144-153
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• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• 한국정밀공학회지
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• 제23권1호
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• pp.129-135
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• 2006

In this study, a two-axis ultra-precision stage driven by piezoelectric elements is presented. The stage has a flexure-type parallel linear guide mechanism consisting of quad-symmetric simple parallel linear springs and quad-symmetric double compound linear springs. While the simple parallel linear springs guide the linear motion of a moving plate in the stage, the double compound linear springs follow the motion of the simple parallel linear spring as well as compensate the parasitic motions caused by the simple parallel linear springs. The linear springs are designed by rectangular beam type flexures that are deformed by bending deflection rather than axial extension, because the axial extension is smaller than the bending deflection at the same force. The designed guide mechanism is analyzed by finite element method(FEM). Then two-axis parallel linear stage is implemented by the linear guide mechanism combined with piezoelectric elements and capacitance type displacement sensors. It is shown that the manufactured ultra-precision stage achieves 3 nm of resolution in x- and y-axis within 30 ${\mu}m$ of operating range.

• 대한기계학회논문집
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• 제19권1호
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• pp.22-37
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• 1995

Industrial robot has played a central role in the production automation such as welding, assembling, and painting. There has been, however, little effort to the application of robots in machining work(grinding, cutting, milling, etc.) which is typical 3D work. The machining automation requires a high stiffness robot arm to reduce deformation and vibration. Conventional articulated robots have serially connecting links from the base to the gripper. So, they have very weak structure for he machining work. Stewart Platform is a typical parallel robotic mechanism with a very high stiffness but it has a small work space and a large installation space. This research proposes a new machining robot arm with a double parallel mechanism. It is composed of two platforms and a central axis. The central axis will connect the motions between the first and the second platforms. Therefore, the robot has a large range of work space as well as a high stiffness. This paper will introduce the machining work using the robot and design the proposed robot arm.

• 한국정밀공학회지
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• 제30권1호
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• pp.105-112
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• 2013

This paper presents the structural design and finite element analysis of precision stage based on a double triangular parallel mechanism for precision positioning and large force generation. Recently, with the acceleration of miniaturization in mobile appliances, the demand for precision aligning and bonding has been increasing. Such processes require both high precision and large force generation, which are difficult to obtain simultaneously. This study aimed at constructing a precision stage that has high precision, long stroke, and large force generation. Actuators were tactically placed and flexure hinges were carefully designed by optimization process to constitute a parallel mechanism with a double triangular configuration. The three actuators in the inner triangle function as an in-plane positioner, whereas the three actuators in the outer triangle as an out-of-plane positioner. Finite element analysis is performed to validate load carrying performances of the developed precision stage.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.765-768
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• 1995

A double parallel manipulator has only two or three links in each parallel mechanism. this reduces link interferences so that we expect a large workspace. To prove this property, this paper analyzes the workspace of a double parallel manipulator and compare it with that of a Stewart Platform. the analysis is separately conducted in a positional and an orientational division. For each, we obtain the workspace accrding to the ranges of lengths of links and show the volume in a cartesian coordinate or the angular ranges in yaw and pitch motions.

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2008년도 동계학술발표대회 논문집
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• pp.630-635
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• 2008

A dynamic model has been developed to investigate the operability of a single and double-effect solar energy assisted parallel type absorption chiller. In the study, main components and fluid transport mechanism have been modeled. Flow discharge coefficients of the valves and the pumps were optimized for the double-effect mode with solar-heated water circulated. The model was run for the single mode with solar energy supply only and the solar/gas driving double effect mode. And the cases of the double mode with and without the solar energy were compared. From the simulation results, it was found that the present configuration of the chiller is not capable of regulating solution flow rates according to variable solar energy input. And the single mode utilizing the solar energy only is not practical. It is suggested to operate the system in the double mode and the flow rate control system adaptive to variable solar energy input has to be developed.

• Structural Engineering and Mechanics
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• 제12권2호
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• pp.157-168
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• 2001

In this paper, experimental investigation into the behavior of reinforced concrete (RC) columns tested under large lateral displacement with four different types of loading arrangements is presented. Each loading arrangement has a different system for controlling the consistency of the loading condition. One of the loading arrangements used three units of link mechanism to control the parallelism of the top and bottom stub of column during testing, and the remaining employed eight hydraulic jacks for the same purpose. The loading systems condition used in this investigation were similar to the actual case in a moment-resisting frame where the tested column was displaced in a double curvature. Ten model column specimens, divided into four series were prepared. Two columns were tested monotonically until collapse, and unless failure took place at an earlier stage of loading, the remaining eight columns were tested under cyclic loading. Test results indicated that the proposed system to keep the top and bottom stubs parallel during testing performed well.

• Genomics & Informatics
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• 제12권3호
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• pp.80-86
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• 2014

Foldback intercoil (FBI) DNA is formed by the folding back at one point of a non-helical parallel track of double-stranded DNA at as sharp as $180^{\circ}$ and the intertwining of two double helixes within each other's major groove to form an intercoil with a diameter of 2.2 nm. FBI DNA has been suggested to mediate intra-molecular homologous recombination of a deletion and inversion. Inter-molecular homologous recombination, known as site-specific insertion, on the other hand, is mediated by the direct perpendicular approach of the FBI DNA tip, as the attP site, onto the target DNA, as the attB site. Transposition of DNA transposons involves the pairing of terminal inverted repeats and 5-7-bp tandem target duplication. FBI DNA configuration effectively explains simple as well as replicative transposition, along with the involvement of an enhancer element. The majority of diverse retrotransposable elements that employ a target site duplication mechanism is also suggested to follow the FBI DNA-mediated perpendicular insertion of the paired intercoil ends by non-homologous end-joining, together with gap filling. A genome-wide perspective of transposable elements in light of FBI DNA is discussed.

• 전기학회논문지
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• 제56권12호
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• pp.2166-2172
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• 2007

In this study a low-signal equivalent circuit based on the Double Schottky Barrier model is proposed for ZnO-based varistor. Since pin-lead inductance and stray capacitance are considered in pin-lead type ZnO varistor these inductance and capacitance could be removed from the experimental dielectric data of the varistor. According to the equivalent circuit simulation results the higher the varistor-voltage of varistor sample the capacitance of dielectric layer is larger, and the capacitances of semiconducting layer and depletion layer are smaller, while the parallel resistances of semiconducting layer and depletion layer are more larger values. Spectra of the dielectric loss factor $tan{\delta}$ show 2 peaks in low frequency and high frequency regions respectively. The low-frequency peak is due to the relaxation by deep donors and the high-frequency peak is due to the relaxation by shallow donors. Above results are well consistent with the theoretical mechanism of ZnO varistor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2633-2635
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• 2000

In this paper, a new DNA coding method, namely modified DNA coding method based on the biological DNA and the evolution mechanism of genetic algorithm. In order to evaluate the propose algorithms, for an example, they are applied to the fuzzy control of parallel double inverted pendulum system. Simulation result show the method is effective in finding the fuzzy control rules and is more excellent than conventional methods in control the system.