• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.8
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• pp.1206-1212
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• 2001

The kinematic analysis of Stewart platform manipulator(SPM) is carried out in order to reduce the calculation time for its forward kinematic solution when the iterative numerical method is employed. The kinematic equations for three substructures of the 6-3 SPM are newly derived by introducing Denavit-Hartenberg link parameters and using kinematic constraints associated with the SPM and substructure kinematics. It is shown that the forward kinematics can be easily solved from three nonlinear equations with three unknown variables only, leading to a great reduction in calculation time.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.11
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• pp.3398-3407
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• 1996

In this paper, we derive an algorithm and develope a computer program which analyze rapidly and precisely the inverse kinematics of robotic mechanism with spatial complex chain structure based on the relative coordinates. We represent the inverse kinematic problem as an optimization problem with the kinematic constraint equations. The inverse kinematic analysis algorithm, therefore, consists of two algorithms, the main, an optimization algorithm finding the motion of independent joints from that of an end-effector and the sub, a forward kinematic analysis algorithm computing the motion of dependent joints. We accomplish simulations for the investigation upon the accuracy and efficiency of the algorithm.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.320-327
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• 2005

A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL). The CTL mechanism has some unique properties. This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units. The recursive algorithm of the inverse kinematics that the author originally developed is employed. It is fast and stable ; moreover, it enables us to obtain a solution in which the end-point of the HRM is controlled by a portion of joints. It also presents the method of the dynamical analysis. There exist kinematical constraints in the proposed closed linkage mechanism. In the dynamic analysis constraints are sufficiently sustained by the constraint stabilization method that the author developed. The mechanical structure of the HRM having some CTL units that is under construction is shown.

• Proceedings of the Korean Society of Computer Information Conference
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• 2014.07a
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• pp.259-260
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• 2014

IT 기술의 발달로 인해 로봇공학은 전문가의 영역에서 비전문가의 영역까지 두루 사용되고 있다. 그러나 현재 존재하는 소프트웨어는 여전히 높은 진입 장벽을 가지고 있다. 비전문가가 실질적으로 참고자료가 많이 부족하기 때문에 로봇 제어가 쉽지 않다. 본 논문에서는 5 자유도를 가진 로봇 팔을 움직이게 할 때 사용하는 기존의 역기구학(Inverse Kinematics)을 활용하여 기존 방법의 난도보다 직관적인 방법을 제시하여 비전문가들에게 로봇에 대한 높은 접근성을 제시한다.

• International journal of advanced smart convergence
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• v.10 no.3
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• pp.149-156
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• 2021

Today, 3D softwares have become an essential tool in all areas of Video, including Movies, Animations, CFs, Motion Graphics and Games. One of the most commonly used fields is the 3D character video part. However, these 3D character animations and motion graphics softwares are difficult to learn and too much to learn, making it difficult to learn them all in a university education with a limited time of four years. In this paper, many Inverse kinematics tools, which are essential in the 3D character animations and motion graphics field, compare and analyze the strengths and weaknesses of each tool, focusing on Bone, Character Studio, and Character Animation Toolkit, which are most commonly used in work fields. And use Delphi techniques for 3D experts to secure objectivity. Therefore, for universities that require large amounts of teaching in a limited time, I propose an analysis of which of the above three Inverse Kinetics tools is advantageous for students to select and focus on for efficient education.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.557-560
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• 2000

The Purpose of this study is analysis of kinematic for a modified manipulator and experimental test to certify auto-balancing operation. The test is carried out as follows. First, we solve the inverse kinematics and then do a closed loop control. Second we confirm translation displacement and rotation angle of a manipulator.

• Tribology and Lubricants
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• v.4 no.2
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• pp.60-67
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• 1988

Conventional theory of gear mechanism can't be applied to analyze the harmonic drive due to specific movement of the teeth. This paper deals with an analysis of kinematics and geometry of the tooth engagement of a harmonic drive comprising circular spline, flexspline and wave generator. A theoretical new tooth profile of the flexspline in meshing internal rigid gear with involute profile is obtained. Characteristics of harmonic drive reducer are shown according to parameters such as deviation coefficient, deviation distance, addendum modification coefficient. As an example, the design of harmonic drive with 1:80 reduction ratio is presented.

• Journal of Bio-Environment Control
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• v.13 no.1
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• pp.1-7
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• 2004

This study is kinematics for the manipulator development of cucumber harvesting. A theory value was verified by repeated error measurement after the forward kinematics or inverse kinematics analysis of manipulator. Manipulator is consisted of one perpendicular link and two revolution link. The transformation of manipulator can be valued by kinematics using Denavit-Hartenberg parameter. The value of inverse kinematics which is solved by three angles faction shows two types. Repeated errors refered maximum 2.60 mm, 2.05mm and 1.55 mm according to X, Y, Z axis. In this study, the actual coordinates of maximum point and minimum point were agreement in the forward kinematics or inverse kinematics. The results of repeated error measurement were reflect to be smaller compared to a diameter of cucumber. measurement errors were determined by experimented errors during the test. For reducing errors of manipulator and improving work efficiency, the number of link should be reduced and breeding and cultural environment should be considered to reduce the weight and use the hard stuff. The velocity of motor for working should be considered, too.

• The Bulletin of The Korean Astronomical Society
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• v.45 no.1
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• pp.60.3-61
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• 2020

We perform disk-halo decomposition of the Large Magellanic Cloud (LMC) using a novel HI velocity field extraction method, aimed at better deriving its HI kinematics and thus the dark matter density profile. For this, we use two newly developed galaxy kinematic analysis tools, BAYGAUD and 2DBAT which have been used for the kinematic analysis of resolved galaxies from Australian Square Kilometre Array (ASKAP) observations like WALLABY which is an all-sky HI galaxy survey in southern sky. By applying BAYGAUD to the combined HI data cube of the LMC taken with the Australia Telescope Compact Array (ATCA) and Parkes radio telescopes, we decompose all the line-of-sight velocity profiles into an optimal number of Gaussian components based on Bayesian MCMC techniques. From this, we disentangle turbulent non-circular gas motions from the overall rotation of the galaxy. We then derive the rotation curve of the LMC by applying 2DBAT to the separated circular motions. The rotation curve reflecting the total kinematics of the LMC, dark and baryonic matters is then be combined with the mass models of baryons, mainly stellar and gaseous components in order to examine the dark matter distribution. Here, we present the analysis of the extracted HI gas maps, rotation curve, and J, H and K-band surface photometry of the LMC.

• Physical Therapy Korea
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• v.21 no.4
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• pp.49-55
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• 2014

Excessive lumbar flexion during sit-to-stand (STS) is a risk factor for lower back pain. Postural taping can prevent unwanted flexion of the lumbar spine. This study aimed to demonstrate the effect of taping the lower back on the lumbopelvic region and hip joint kinematics during STS. Sixteen healthy subjects participated. All subjects performed the STS with and without taping of the lower back. A three-dimensional motion analysis system was used to measure the kinematics of the lumbar spine, pelvis, and hip joint during STS. The angle of the peak lumbar flexion, pelvic anterior tilting, and hip flexion and angular displacement of the lumbar spine between starting position and maximal lumbar flexion were collected. Paired t-tests, or Wilcoxon's rank-sum test for non-parametric distribution, were used to assess differences in the measurements with and without taping. A p-value <.05 was taken to indicate a significant difference. Significant differences were observed in the angle of the peak lumbar flexion, pelvic anterior tilting, hip flexion and angular displacement of the lumbar spine (p<.05). Taping was associated with a significant decrease in the angle of peak lumbar flexion and angular displacement of the lumbar spine between the starting position and maximal lumbar spine flexion. In addition, the peak angle of pelvic anterior tilting and hip flexion were significantly increased with taping. The findings of this study suggest that taping the lower back can decrease excessive lumbar flexion, and increase the pelvic anterior tilting and hip flexion motion during STS.