• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.188-192
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• 2000

An analysjs model for calculation the motion accuarcy of double sides hydrostatic table is proposed in thn paper. For the analysis of motion accuracy, profiles of each rails are assumed as periodic function, and represented using Fourier coefficients. Variahon of bearing clearance is represented as the vanation of linear, angular displacement of table and profiles of rails. Motion accuracy is calculated in the basis of finite element analysis on the pressure dutributmn of table. In order to improve calculating time in the analysis of motion accuracy, The proposed modeling method converts double sides table to single side table equivalently Results by the proposed method 1s compared with directly caculated results mdyhcally, and also compared wlth experimental results. From the theoretical and experimental analysis, it is confirmed that the proposed modeling mothod is very effective to analyze the motion accuracy of dauble sides hydrostatic table.

• International Journal of Aeronautical and Space Sciences
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• v.2 no.1
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• pp.28-43
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• 2001

Developed in these two series of paper is a complex dynamic model representing the motion of aircraft on the ground and a computer program for numerical simulation. The first part of paper presents the theoretical derivation of equations of motion of the landing gear system based on the physical principle. Developed model is 'structured' in the sense that the undercarriage system is regarded as an assembly of strut, tire, and wheel, where each component is modeled by a separate module. These modules are linked with two external modules-the aircraft and the runway characteristics-to carry out dynamic analysis and numerical simulation of the aircraft motion on the ground. Three sets of coordinate system associated with strut, wheel/tire and runway are defined, and external loads to each component and response characteristics are examined. Lagrangian formulation is used to derive the undercarriage equations of motion relative to the moving aircraft, and the resultant forces and moments from the undercarriage are transformed to aircraft body axes.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.3
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• pp.210-216
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• 2003

A nonlinear dynamic modeling method for cantilever beams undergoing axially oscillating motion is presented in this paper. Hybrid deformation variables are employed for the modeling method with which frequency response characteristics of axially oscillating cantilever beams are investigated. It is shown that the geometric nonlinear effects of stretching and curvature play important roles to accurately predict the frequency response characteristics. The effects of the amplitude and the damping constant on the frequency characteristics are also exhibited.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.262-267
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• 2002

A nonlinear dynamic modeling method for cantilever beams undergoing axially oscillating motion is presented in this paper. Hybrid deformation variables are employed for the modeling method with which frequency response characteristics of a axially oscillating cantilever beams are investigated. It is shown that the geometric nonlinear effects of stretching and curvature play important roles to accurately predict the frequency response characteristics. The effects of the amplitude and the damping constant on the frequency characteristics are also exhibited.

• The KIPS Transactions:PartA
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• v.8A no.1
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• pp.63-69
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• 2001

In this paper, we present an interactive 3D character modeling and animation including a data management tool for editing the animation. It includes an animation editor for changing animation sequences according to the modified structure of 3D object in the object structure editor. The animation tool has the feature that it can produce motion data independently of any modeling tool including our modeling tool. Differently from conventional 3D graphics tools that model objects based on geometrically calculated data, our tool models 3D geometric and animation data by approximating to the real object using 2D image interactively. There are some applications that do not need precise representation, but an easier way to obtain an approximated model looking similar to the real object. Our tool is appropriate for such applications. This paper has focused on the data management for enhancing the automatin and convenience when editing a motion or when mapping a motion to the other character.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.129-130
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.456-459
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• 1995

The problem of compliant motion control using a redundant manipulator is addressed in this article. Specifically, a hybrid-control type and impedance-control type controllers are extended to general redundant manipulators based on the kinematically decomposed and geometrically compatible modeling of its joint space. In the case of the hybrid controller, it leads to the linear and decoupled closed-loop dynamics in the three motion spaces, that is the motion-controlled, force-controlled, and the null motion-controlled spaces of the redundant manipulator. When the proposed impedance controller is applied, the decoupled impedance models in three motion spaces are obtained. The superiority of the proposed controllers is verified with the numerical experiments.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.7 s.100
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• pp.878-884
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• 2005

This paper presents an algorithm for the precision motion control based on the dynamic characteristics of piezoelectric actuators in the inchworm. The dynamic characteristics are identified by the frequency domain modeling technique using the experimental data. For the motion control, the hysteresis behavior is compensated by the inverse hysteresis model. The dynamic stiffness of an inchworm is generally low compared to its driving condition, so mechanical vibration may degenerate the motion accuracy of the inchworm. The Sliding mode controller and the Kalman filter are designed for motion control of the inch-worm.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.3
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• pp.66-73
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• 2004

This paper presents wafer motion modeling of transfer unit in clean tube system, which was developed as a means for transferring the air-floated wafers inside the closed tube filled with the super clean airs. When the wafer is transferred in x direction with an initial velocity the motion along x direction can be modeled as a simple decaying motion due to viscous friction of the fluid. But, the motion in y direction is modeled as a mass-spring-damper system where the recovering force by air jets issued from the perforated is modeled as a linear spring. Experiments with a clean tube system built fur 12 wafer show the validity of the presented force and motion models.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.6-108
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• 2002

It is greatly important to understand the mechanics of AFM-based nanorobotic manipulation for efficient and reliable handling of nanoparticles. Robust motion control of an AFM-based nanorobotic manipulation is much challenging due to uncertain mechanics in tip-sample interaction dominated by surface and intermolecular force and limitations in force and visual sensing capability to observe environment. This paper investigates a nanomechanic modeling which enables simulation for AFM-based nanorobotic manipulation , and its application to motion planning of an AFM-based nanorobot. Based on the modeling of intermolecular and adhesion force in AFM-based nanomanipulation, the behaviors of an AFM ca...