• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.5 s.236
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• pp.680-688
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• 2005

This paper presents a methodology for the stiffness analysis of a low-DOF parallel manipulator. A low-DOF parallel manipulator is a spatial parallel manipulator which has less than six degrees of freedom. The reciprocal screws of actuations and constraints in each leg can be determined by making use of the theory of reciprocal screws, which provide information about reaction forces due to actuations and constraints. When pure farce is applied to a leg, the leg stiffness is modeled as a linear spring along the line. For pure couple, it is modeled as a rotational spring about the axis. It is shown that the stiffness model of an it_DOF parallel nipulator consists of F springs related to actuations and 6-F springs related to constraints connected from the moving platform to the base in parallel. The 6x f Cartesian stiffness matrix is derived, which is the sum of the Cartesian stiffness matrices of actuations and constraints. Finally, the 3-UPU, 3-PRRR, and Tricept parallel manipulators are used as examples to demonstrate the methodology.

• Asian-Australasian Journal of Animal Sciences
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• v.13 no.2
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• pp.167-175
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• 2000

This paper describes the magnetic orientation of bull sperm separated into the head and the flagellum treated by DTT or heparin in a 5,400G static field. Semen samples collected from four bulls (Japanese Black) were mixed to the same sperm density. One percentage triton X-100 was used to extract the plasma membrane. The intact and demembranated sperm suspensions were treated with 20, 200, 2,000 mM DTT, 100, 1,000 or 10,000 units heparin solutions at $4^{\circ}C$ for 6 days. The decondensation of the sperm nuclei treated by DTT or heparin was examined by measuring the head area at 1, 3 and 6 days. After measuring the area, each sample was exposed to a 5,400G static magnetic field generated by Nd-Fe-B permanent magnets for 24 hours at room temperature. Results showed that the sperms were separated into the head and the flagellum through the DTT treatment. Almost of the separated heads showed that their long axis oriented perpendicularly to the magnetic lines of force, and most of the long axis perpendicularly oriented heads showed that their flat plane oriented perpendicularly in a 5,400G magnetic field. Also, the demembranation of the head tended to increase those perpendicular orientations, while those perpendicular orientations of the head declined with the decondensation of the sperm nuclei. These findings suggest that strong magnetic anisotropy for the perpendicular orientation of the long axis and the flat plane of the head occurs in the sperm nuclei in a 5,400G magnetic field. The separated flagellum showed lower parallel orientation, and the separated and demembranated flagellum showed parallel orientation to the magnetic lines of force in this magnetic field. These findings suggest that weak magnetic anisotropy of the parallel orientation of the flagellum occurs in the inside components in a 5,400G field.

• Journal of Magnetics
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• v.2 no.1
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• pp.22-24
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• 1997

FeN thin films were deposited by RF-reactive diode sputtering to investigate magnetic characteristics variation due to substrate tilt during the film deposition, and their magnetic properties were measured by VSM, SEM and AFM. When the substrate tilt pivot edges were parallel to the applied field, the magnetic anisotropy was increased When the substrate tilt pivot edges were perpendicular to the applied field, the easy magnetization axis became the hard magnetization axis, and the hard axis became the easy axis as the tilt angles were increased. The reason is believed to be due to the fact that the tilt induced shape magnetic anisotropy became larger than the field induced magnetic anisotropy by DC magnetic field as the crystal grains are enlongated along the substrate tilt pivot edges due to "oblique incidence anisotropy" commonly found in eveporated thin films.

• 한국가시화정보학회:학술대회논문집
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• 2005.12a
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• pp.6-10
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• 2005

PIV(Particle image velocimetry) presents the flow velocity of whole flow fields in a fraction of a second. Conventional PIV method uses two optical axis configuration during the image grabbing process. That is, the illumination plane and the recording plane must be parallel. This configuration is very natural to grab the whole field without the image distortion. In the real problem, it is often to meet the situation which this configuration is hard to be fulfilled. In this study, we developed new PIV method which only uses single optical axis to grab the particle images. This new PIV method become possible by utilizing the scanning method similar to echo PIV technique. One particle image of scanning PIV consists of scanned several line images and by repeating this scanning process, two particle images were grabbed and processed to produce the velocity vectors.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.711-714
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• 2001

As the life cycle of the vehicle become shorter, the method that reduce the development time of new model become more important. In this reason, the development of the simulator that provides similar environment with the actual vehicle road characteristics is increasing. In this paper, the multi-axis simulator is designed and analyzed by kinematic method. The simulator has a function simulating the 3 load elements; vertical, longitudinal, and lateral force respectively and simultaneously. The result of this paper can be used for developing the multi-axis simulator linkage.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.31 no.2 s.257
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• pp.181-187
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• 2007

Conventional PIV method uses two optical axis configuration during the image grabbing process. That is, the illumination plane and the recording plane must be parallel. This configuration is very natural to grab the whole field without the image distortion. In the real problem, it is often to meet the situation when this configuration is hard to be fulfilled. In the present study, the new PIV method which uses only single optical axis to grab the particle images is developed. This new PIV method becomes possible by utilizing the scanning method similar to the echo PIV technique. One particle image of the scanning PIV consists of scanned several line images and by repeating this scanning process, two particle images were grabbed and processed to produce the velocity vectors. An optimization study was performed to find parameters which minimize the measurement errors. The effects of particle diameter, beam overlap ratio and particle number density were investigated.

• Honam Mathematical Journal
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• v.30 no.1
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• pp.165-170
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• 2008

We will examine the stick number of knots on the cubic lattice which is called the lattice stick number. The lattice stick numbers of knots $3_1$ and $4_1$ are known as 12 and 14, respectively. In this paper, we will show that only $3_1$ and $4_1$ have representations of irreducible non-trivial polygons, both numbers of whose sticks parallel to the y-axis and the z-axis are exactly four.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.10a
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• pp.671-672
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• 2006

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.758-763
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for making a robot's gripper. In order to safely grasp and unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it.

• IE interfaces
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• v.12 no.1
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• pp.68-78
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• 1999

A noncircular cutting such as a piston cutting has depended on the copy-machining because of its complex shape. But the copy-machining needs a master model and brings about a low quality of the piston caused by being worn out of the master model. And the lower cutting speed reduces the productivity. In this paper, for solving these problems, a specialized software system and its subsequent procedure are presented. The shape of a piston consists of an oval, an offset, recesses, and eccentricities. The paper describes these shapes as a consistent equation that is a function of the rotational angle and the position of longitudinal direction(Z-axis). It is simple to define the characteristic geometry of a piston and to generate a tool path for CNC machining. This paper proposes the a proper structure of a 4-axes CNC(Computerized Numerical Control) lathe for machining the piston. As well as X-axis and Z-axis, are attached to the machine a C-axis for rotation and a Y-axis for higher speedy prismatic motion parallel to X-axis.