• Journal of the Korean Society of Industry Convergence
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• v.17 no.3
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• pp.84-92
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• 2014

In this paper, a novel 5-axis hybrid-kinematic machine tool is introduced and the research results on accuracy improvement of the prototype machine tool are presented. The 5-axis hybrid machine tool is made up of a 3-DOF parallel manipulator and a 2-DOF serial one connected in series. The machine tool maintains high ratio of stiffness to mass due to the parallel structure and high orientation capability due to the serial-type wrist. In order to acquire high accuracy, the methodology of measuring the output shafts by additional sensors instead of using encoder outputs at the motor shafts is proposed. In the kinematic view point, the hybrid manipulator reduces to a serial one, if the passive joints in the U-P serial chain at the center of the parallel manipulator are directly measured by additional sensors. Using the method of successive screw displacements, the kinematic error model is derived. Since a ball-bar is less expensive than a full position measurement device and sufficiently accurate for calibration, the kinematic calibration method of using a ball-bar is presented. The effectiveness of the calibration method has been verified through the simulations. Finally, the calibration experiment shows that the position accuracy of the prototype machine tool has been improved from 153 to $86{\mu}m$.

• Journal of Korean Society of Environmental Engineers
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• v.36 no.4
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• pp.295-302
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• 2014

This study demonstrates a double-path CDI as an alternative of advanced wastewater treatment process. While the CDI typically consists of many pairs of electrodes connected in parallel, the new double-path CDI is designed to have series flow path by dividing the module into two stages. The CFD model showed that the double-path had uniform flow distribution with higher velocity and less dead zone compared with the single-path. However, the double-path was predicted to have higher pressure drop(0.7 bar) compared the single-path (0.4 bar). From the unit cell test, the highest TDS removal efficiencies of single- and double-path were up to 88% and 91%, respectively. The rate of increase in pressure drop with an increase of flow rate was higher in double-path than single-path. At 70 mL/min of flow rate, the pressure drop of double-path was 1.67 bar, which was two times higher than single-path. When the electrode spacing was increased from 100 to $200{\mu}m$, the pressure drop of double-path decreased from 1.67 to 0.87 bar, while there was little difference in TDS removal. When proto type double-path CDI was operated using sewage water, TDS, $NH_4{^+}$-N, $NO_3{^-}$-N and $PO_4{^{3-}}$-P removal efficiencies were up to 78%, 50%, 93% and 50%, respectively.

• The Journal of the Convergence on Culture Technology
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• v.6 no.1
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• pp.515-520
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• 2020

The design and actual implementation of the four-bar parallel link was studied in the paper. The parallel four-section link is widely used as a basic kinematic mechanism for transmitting the rotation of one axis to the rotational motion of the other axis. However, the parallel 4 link has a problem that phase reversal occurs at the turning point during the movement. In order to prevent the link reversal, it is known that a double parallelogram-type link is formed by attaching an additional phase reversal suppression link with an offset. However, as a result of the actual fabrication experiment, the movement is not smooth at the transition point. In order to solve this problem, in this study, a link for smooth movement is added in addition to a link that provides an offset to prevent phase reversal, so that the phase reversal does not occur at a specific point when the driven shaft rotates along the drive shaft. The test result confirms the validity of our suggestion.