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Stiffness Analysis of a Low-DOF Parallel Manipulator including the Elastic Deformations of Both Joints and Links (ICCAS 2005)

  • Kim, Han-Sung;Shin, Chang-Rok;Kyung, Jin-Ho;Ha, Young-Ho;Yu, Han-Sik;Shim, Poong-Soo
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2005년도 ICCAS
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    • pp.631-637
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    • 2005
  • This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.

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On the Role of Projected FDI Inflows in Shaping Institutions: The Longer-Term Plan for Post-Pandemic Investment Reboot

  • Gao, Xiang;Gu, Zhenhua;Koedijk, Kees G.
    • East Asian Economic Review
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    • 제24권4호
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    • pp.441-468
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    • 2020
  • Capital inflows have a strong presence that influences destination countries' development of institutions, which can in turn help resuscitate a stopped economy and re-attract capital that was lost during crises such as the recent public health crisis. While the previous literature emphasizes the mechanism that foreign investors press or even threaten the local government for change, this paper explores empirically whether institutional improvement can be achieved through the channel that host countries voluntarily reform institutions in anticipation of potential investments predicted by the exogenous geographical and cultural characteristics of the recipient countries. Given that countries with better institutional quality can accumulate larger FDI stocks, we still find that the need for more FDI, in contrast to FPI and debt, gives higher incentives to host countries to strategically improve their institutions before seeking capital overseas. Moreover, the predicted FDI exerts more prominent impacts on institutions on constraining elite than those involved in launching a business, enforcing contracts, and protecting properties. The results imply that a long-run plan for upgrading elite constraint institutions is crucial for a post-pandemic FDI reboot.

The Dynamics of Noise and Vibration Engineering Vibrant as ever, for years to come

  • Leuridan, Jan
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2010년도 춘계학술대회 논문집
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    • pp.47-47
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    • 2010
  • Over the past 20 years, constant progress in noise and vibration (NVH) engineering has enabled to constantly advance quality and comfort of operation and use of really any products - from automobiles to aircraft, to all kinds of industrial vehicles and machines - to the extend that for many products, supreme NVH performance has becomes part of its brand image in the market. At the same time, the product innovation agenda in the automotive, aircraft and really many other industries, has been extended very much in recent years by meeting ever more strict environmental regulations. Like in the automotive industry, the drive towards meeting emission and CO2 targets leads to very much accelerated adoption of new powertrain concepts (downsizing of ICE, hybrid-electrical...), and to new vehicle architectures and the application of new materials to reduce weight, which bring new challenges for not only maintaining but further improving NVH performance. This drives for innovation in NVH engineering, so as to succeed in meeting a product brand performance for NVH, while as the same time satisfying eco-constraints. Product innovation has also become increasingly dependent on the adoption of electronics and software, which drives for new solutions for NVH engineering that can be applied for NVH performance optimization of mechatronic products. Finally, relentless pressure to shorten time to market while maintaining overall product quality and reliability, mandates that the practice and solutions for NVH engineering can be optimally applied in all phases of product development. The presentation will first review the afore trends for product and process innovation, and discuss the challenges they represent for NVH engineering. Next, the presentation discusses new solutions for NVH engineering of products, so as to meet target brand values, while at the same time meeting ever more strict eco constraints, and this within a context of increasing adoption of electronics and controls to drive product innovation. NVH being very much defined by system level performance, these solutions implement the approach of "Model Based System Engineering" to increase the impact of system level analysis for NVH in all phases of product development: - At the Concept Phase, to be able to do business case analysis of new product concepts; to arrive at an optimized and robust product architecture (e.g. to hybrid powertrain lay-out, to optimize fuel economy); to enable target cascading, to subsystem and component level. - In Development Phase, to increase realism and productivity of simulation, so as to frontload virtual validation of components and subsystems and to further reduce reliance on physical testing. - During the final System Testing Phase, to enable subsystem testing by a combination of physical testing and simulation: using simulation models to simulate the final integration context when testing a subsystem, enabling to frontload subsystem testing before final system integration is possible. - To interconnect Mechanical, Electronical and Controls engineering, in all phases of development, by supporting model driven controls engineering (MIL, SIL, HIL). Finally, the presentation reviews examples of how LMS is implementing such new applications for NVH engineering with lead customers in Europe, Asia and US, with demonstrated benefits both in terms of shortening development cycles, and/or enabling a simulation based approach to reduce reliance on physical testing.

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