• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.1
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• pp.74-79
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• 2011

Alignment systems with multi-axis motions are applied to determine vertical arrangement of multilayer assembly such as LCD, PDP, and MLCC. This study reports the development of XY${\theta}$ alignment stage which is designed as thin-type structure and parallel actuations. The thin-type parallel XY${\theta}$ alignment stage is maintained below $1{\mu}m$ in repeatability error. The squareness and straightness also allow precise motion for the alignment by the developed stage. The measured error is ${\pm}6.25{\mu}m$ in the alignment experiment by the vision system on the parallel XY${\theta}$ alignment stage.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.151-154
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• 2002

The twin impulse wave leads to very complicated flow fields, such as Mach stem, spherical waves, and vortex ring. The twin impulse wave discharged from the exits of the two tubes placed in parallel is investigated to understand detailed flow physics associated with the twin impulse wave, compared with those in a single impulse wave. In the current study, the merging phenomena and propagation characteristics of the impulse waves are investigated using a shock tube experiment and by numerical computations. The Harten-Yee's total variation diminishing (TVD) scheme is used to solve the unsteady, two-dimensional, compressible, Euler equations. The Mach number $M_{s}$, of incident shock wave is changed below 1.5 and the distance between two-parallel tubes, L/d, is changed from 1.2 to 4.0. In the shock tube experiment, the twin impulse waves are visualized by a Schlieren optical system for the purpose of validation of computational work. The results obtained show that on the symmetric axis between two parallel tubes, the peak pressure produced by the twin-impulse waves and its location strongly depend upon the distance between two parallel tubes, L/d and the incident shock Mach number, $M_{s}$. The predicted Schlieren images represent the measured twin-impulse wave with a good accuracy.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.19 no.1
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• pp.57-68
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• 2015

When a straight channel formed by two parallel porous plates, through which two immiscible liquids occupying different heights are flowing a secondary motion is set up. The motion is caused by moving the upper plate with a uniform velocity about an axis perpendicular to the plates. The solutions are exact solutions. Here we discuss the effect of suction parameter and the position of interface on the flow phenomena in case of Couette flow. The velocity distributions for the primary and secondary flows have been discussed and presented graphically. The skin-friction amplitude at the upper and lower plates has been discussed for various physical parameters.

• Journal of the Korean Ceramic Society
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• v.31 no.2
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• pp.147-154
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• 1994

The imperfections of LiTaO3 crystals grown from the Pt-Rh and the Ir crucible were investigated with X-ray diffraction, optical and electron microscope. The growth direction was <100>h and the plane parallel to the plane connecting two main growth ridges was (012)h which would be the main cleavage plane. The dislocation density in the specimen cut parallel to (012)h plane increased with polishing time and the inverted ferroelectric microdomains were induced based on this dislocations. Such imperfections as 180$^{\circ}$ domains, microcracks, dislocations and stacking faults. could be found in the LiTaO3 crytals. The crystal contaminated with lots of Rh form Pt-Rh crucible during the crystal growing under air atmosphere contained more imperfections. The main cleavage plane and subgrain boundary parallel to its growing axis might be the main source of reducing the mechnical strength during the wafering process.

• Proceedings of the KIPE Conference
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• 2001.07a
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• pp.356-359
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• 2001

In this paper, the new control algorithm is proposed that compensates instantaneously the active and reactive components of the input currents by the synchronous d,q axis conversion of a single-phase current in controlling the single-phase AC/DC parallel converters for a high speed train. The leakage inductance of a transformer was used as a boost inductance and the ripple of a transformer's primary current was reduced considerably by the parallel operation of the two converters with a proper switching phase-shift. The stable and fast control response characteristic is certificated by a simulation.

• Journal of the Korean Chemical Society
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• v.28 no.1
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• pp.34-40
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• 1984

The reorientational motion of $C_6F_6$ in neat liquid is investigated in the temperature range 293∼333K by analyzing ${\nu}_2$ and ${\nu}_16$ bands of its Raman spectrum. Diffusion constants for the tumbling ($D_{\bo}$) and spinning ($D_{\parallel}$) motions are determined. The reorientation of the molecule seems to be distinctly anisotropic. Based on the hydrodynamic model, the tumbling motion of the figure axis of $C_6F_6$ is largely diffusional. On the other hand, the spinning motion of the same axis looks mostly inertial.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.12
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• pp.1185-1191
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• 2011

The kinematic characteristics of cutting device significantly affects cutting performance in 2-dimensional elliptical vibration cutting(EVC) where the cutting tool cuts workpiece, traversing a micro-scale elliptical trajectory in a trochoidal motion. In this study, kinematical characteristics of EVC device constructed with two parallel stacked piezoelectric actuators were analytically modeled and compared with the experimental results. The EVC device was subjected to step and low-frequency(0.1 Hz) sinusoidal inputs to reveal only its kinematical displacement characteristics. Hysteresis in the motion of the device was observed in the thrust direction and distinctive skew of the major axis of the elliptical trajectory of the cutting tool was also noticed. Discrepancy in the voltage-to-displacement characteristics of the piezoelectric actuators was found to largely contribute to the skew of the major axis of the elliptical trajectory of the cutting tool. Analytical kinematical model predicted the cutting direction displacement within 10 % error in magnitude with no phase error, but in estimating the thrust direction displacement, it showed a $27^{\circ}$ of phase-lag compared with the measured displacement with no magnitude error.

• Archives of Pharmacal Research
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• v.3 no.1
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• pp.37-49
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• 1980

Chlorpropamide, $C_{10}H_{13}N_{2}O_{3}SCI$, forms orthofombic crystals of space group $P_{2}_{ 1}2_{1}2_{1}$ with a 9.066 $\pm$ 0.004, b = 5.218 $\pm$ 0.003, c = 26, 604 $\pm$, 0.008 $\AA$, and four molecules per cell. Three dimensional photographic data were collected with Mo-K$\alpha$ radiation. The structure was determined using Patterson, Fourier and Difference syntheses methods and refined by the block-diagonal least-squares methods with anisotropic thermal parameters for all nonhydrogen atoms and isotropic thermal parameters for all hydrogen atomes. The final R value was 0.10 for the 1823 observed independent reflections. The dihedral angle between the planes through the benzene ring and the urea goup is 99$^{\circ}$. The conformational angle formed by the projection of the S-C(1) with that of N(1)-C(7) when the projection is taken along the S-N(1) bond is 76$^{\circ}$. The molecule appears to form with neighbouring molecules two hydrogen bonds, N(1)..H...O(3) and N(2)-H...0(2) of lengths 2.774 and 2.954$\AA$ respectively related by screw diads parallel to the a axis. Adjacent molecules parallel to b and c axis are bound together by van der Wasls forces.