• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.681-690
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• 2007

This article presents the kinematic analysis and implementation of an interface and control of two robots-an exoskeleton master robot and a human-like slave robot with two arms. Two robots are designed and built to be used for motion-following tasks. The operator wears the exoskeleton master robot to generate motions, and the slave robot is required to follow after the motion of the master robot. To synchronize the motions of two robots, kinematic analysis is performed to correct the kinematic mismatch between two robots. Hardware implementation of interface and control is done to test motion-following tasks. Experiments are performed to confirm the feasibility of the motion-following tasks by two robots.

• Tribology and Lubricants
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• v.19 no.2
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• pp.65-71
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• 2003

An elastohydrodynamic lubrication analysis was performed on the contacting teeth surfaces of involute spur gears. Kinematics of the gear and the pinion were taken into account to get accurate geometric clearances around the elastohydrodynamic lubrication region of the contacting teeth. Pressure and film thickness distribution for the whole contacting faces in lubricated condition at several time steps were obtained through the analysis. Besides the pressure spike at the outlet region, a representative phenomenon in elastohydrodynamic lubrication regime, the pressure at the inlet region was slightly higher than that of the center region. The film thickness of transient condition was thicker than that of steady condition.

• KSTLE International Journal
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• v.5 no.1
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• pp.14-22
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• 2004

The sub-surface stress field beneath the gear's contact surface caused by the surface pressure in lubricated condition is analyzed. To evaluate the influence of the clearances between a gear tooth and a pinion tooth on the stress field, two kinds of tooth profile models - conventional cylinder contact model and new numerical model - were chosen. Kinematics of the gear is taken into account to obtain the numerical model which is the accurate geometric clearances between a gear tooth and a pinion tooth. Transient elasto-hydrodynamic lubrication (EHL) analysis is performed to get the surface pressure. The sub-stress field is obtained by using Love's rectangular patch solution. The analysis results show that the sub-surface stress is quite dependent on both the surface pressures and the profile models. The maximum effective stress of the new model is lower than that of the old model. The depth where the maximum effective stress occurs in the new model is not proportional to the intensity of the external load.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.3
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• pp.322-328
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• 2011

This paper presents inverse kinematics and workspace analysis of a planar three degree-of-freedom (DOF) parallel manipulator. Furthermore, optimization problem of the manipulator is presented. The manipulator adopts PRR (Prismatic-Revolute-Revolute) mechanism and the prismatic actuators are fixed to the base. This leads to a reduction of the inertia of the moving links and hence enables it to move with high speed. The actuators are linear electric motors. First, the mechanism based on the geometry of the manipulator is introduced. Second, a workspace analysis is performed. Finally, design optimization is carried out to have large workspace. The proposed approach can be applied to the design optimization of various three DOF parallel manipulators in order to maximize their workspace. The performance of mechanism is improved and satisfies the requirements of workspace to align micro-components.

• Journal of Mechanical Science and Technology
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• v.17 no.6
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• pp.825-835
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• 2003

Previous studies have demonstrated the importance of joint angle errors mainly due to skin artifact and measurement errors during gait analysis. Joint angle errors lead to unreliable kinematics and kinetic analyses in the investigation of human motion. The purpose of this paper is to present the Joint Averaging Coordinate System (JACS) method for human gait analysis. The JACS method is based on the concept of statistical data reduction of anatomically referenced marker data. Since markers are not attached to rigid bodies, different marker combinations lead to slightly different predictions of joint angles. These different combinations can be averaged in order to provide a "best" estimate of joint angle. Results of a gait analysis are presented using clinically meaningful terminology to provide better communication with clinical personal. In order to verify the developed JACS method, a simple three-dimensional knee joint contact model was developed, employing an absolute coordinate system without using any kinematics constraint in which thigh and shank segments can be derived independently. In the experimental data recovery, the separation and penetration distance of the knee joint is supposed to be zero during one gait cycle if there are no errors in the experimental data. Using the JACS method, the separation and penetration error was reduced compared to well-developed existing methods such as ACRS and Spoor & Veldpaus method. The separation and penetration distance ranged up to 15 mm and 12 mm using the Spoor & Veldpaus and ACRS method, respectively, compared to 9 mm using JACS method. Statistical methods like the JACS can be applied in conjunction with existing techniques that reduce systematic errors in marker location, leading to an improved assessment of human gait.

• Korean Journal of Applied Biomechanics
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• v.16 no.4
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• pp.21-30
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• 2006

The purpose of the study is to search for the possibility of the application of kinematics analysis to physical education at schools and expand its scope of application. This study chose 9 college students majoring in physical education and classified them into type A group who can make the straight, vertical handstand, type B group whose waist is bent, type C group who cannot handstand completely. The center of mass, distance between hand and leg, and the angle and angular velocity of each joint were obtained. The result of this study is this. 1. The time for CM showed 6:4 for A group and 5:5 for B and C groups. The distance between hand and foot in the event 3 was 44% of the height for A group, and 41% for B and C groups. A Group showed the higher CM positional significant difference, it was vertically direction below the hip joint at front. For significant difference of the B Group showed horizontal and vertical velocity of the CM, the highest vertical was obtained in phase 3. The difference of angle of shoulder join in the flexion/extension was showed gradually extension event 2 and the height angular velocity was at phase 3 in the A group. 2 The analysis of the handstand motion revealed that the phase 3, but the maintenance of posture start part the handstand is also very important. Through these results, this study confirmed that the time for phase of the CM, horizontal and vertical positions, velocity, the distance between hands and foot, and the difference of the angle and angular velocity of hip joint and shoulder joint can be set as the variables of analysis. It was also definite cause that the handstand motions of college students majoring in physical education had many difference in performance.

• Korean Journal of Applied Biomechanics
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• v.15 no.2
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• pp.197-207
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• 2005

The purpose of this study was to investigate the body segment kinematics by lap time during men's 5,000m racing. The subjects in this study were 4 male athletics who take part in the competition. The two dimension motion analysis with DLT(direct linear transformation) method was executed using digital video cameras. The following conclusion was that : It was shown that top ranking in a competition is continuous race pattern and the last Lap time is the most fast. It was shown that top ranking in a competition is continuos the stride length and it was the largest in the last Lap time. It was shown that according to the passing Lap time trunk frontal angle was decreasing and shoulder angle was continuous.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2448-2450
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• 2005

A robotic external fixation system for the surgery of bone deformity correction was developed to simulate the execution process of mal-unioned femur by the adjustment of the joints of the fixation system. An inverse kinematics analysis algorithm was developed to calculate the necessary rotations and translations at each joint of the robotic system. The computer graphic model was developed for validation of the analysis result and visualization of the surgical process. For given rotational and angular deformity case, the surgical execution process using the robotic system was well matched with the pre-operative planning. The final residual rotational deformities were within $1.0^{\circ}{\sim}1.6^{\circ}$ after surgical correction process. The presented robotic system with computer-aided planning can be useful for knowledge-based fracture treatment and bone deformity correction under external fixation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.237-240
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• 1997

The casing oscillator is a construction equipment to clamp, oscillate and push a casing for foundation work. In case that the casing oscillator is operated on the slant ground, if another construction heavy equipment is not used, it is impossible to insert the casing in ground using only casing oscillator. So in this paper, we present the new casing oscillator that need not to level the ground for work of casing insertion. This mechanism can execute 4 DOF motion by actuating 5 single - rod hydraulic cylinders. The forward kinematics analysis of the casrng oscillator by tetrahedron geometry is performed so predict workspace, direction and poison of casing oscillatoer.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.60-68
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• 1998

Parallel link manipulators have an ability of more precise positioning than serial open-loop manipulators. However. general parallel link manipulators have been restricted to the real applications since they have limited workspace due to interference among actuators. In this study, we suggest a closed-loop manipulator with 6 degrees-of-freedom and with enlarged workspace. It consists of two parts for minimizing the interference among actuators. One part is lower structure with planar 3 degrees-of-freedom and the other is upper one with spatial 3 degrees-of-freedom. Forward kinematics and inverse kinematics are solved, research about singularity points are carried out and workspace is evaluated. The comparison of workspace between Stewart platform, which is the typical parallel link manipulator, and the suggested manipulator shows that the workspace of the latter is wider than that of the former. Especially, simulation results also show that the suggested manipulator is more suitable when there needs rotation in the end-effector.