• The Journal of the Convergence on Culture Technology
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• v.6 no.1
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• pp.515-520
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• 2020

The design and actual implementation of the four-bar parallel link was studied in the paper. The parallel four-section link is widely used as a basic kinematic mechanism for transmitting the rotation of one axis to the rotational motion of the other axis. However, the parallel 4 link has a problem that phase reversal occurs at the turning point during the movement. In order to prevent the link reversal, it is known that a double parallelogram-type link is formed by attaching an additional phase reversal suppression link with an offset. However, as a result of the actual fabrication experiment, the movement is not smooth at the transition point. In order to solve this problem, in this study, a link for smooth movement is added in addition to a link that provides an offset to prevent phase reversal, so that the phase reversal does not occur at a specific point when the driven shaft rotates along the drive shaft. The test result confirms the validity of our suggestion.

• Proceedings of the KIPE Conference
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• 2016.07a
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• pp.309-310
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• 2016

Sealed flooded lead acid batteries are becoming popular in the industry because of their low cost as compared to their counterparts. State of Charge (SOC) estimation has always been an important factor in battery management systems. For the accurate SOC estimation, open circuit voltage (OCV) hysteresis should be modelled accurately. The hysteresis phenomenon of the sealed flooded lead acid battery is discussed in detail and its ultimate modeling is proposed based on the conventional parallelogram method. The SOC estimation is performed by using Unscented Kalman Filter (UKF) while the parameters of the battery are estimated using Auto Regressive with external input (ARX) method. The validity of the proposed method is verified by the experimental results. The SOC estimation error by the proposed method is less than 3 % all wing the 125hr test.

• Communications of the Korean Mathematical Society
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• v.32 no.1
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• pp.135-145
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• 2017

For a polygon P, we consider the centroid $G_0$ of the vertices of P, the centroid $G_1$ of the edges of P and the centroid $G_2$ of the interior of P. When P is a triangle, (1) we always have $G_0=G_2$ and (2) P satisfies $G_1=G_2$ if and only if it is equilateral. For a quadrangle P, one of $G_0=G_2$ and $G_0=G_1$ implies that P is a parallelogram. In this paper, we investigate the relationships between centroids of quadrangles. As a result, we establish some characterizations for rhombi and show that among convex quadrangles whose two diagonals are perpendicular to each other, rhombi and kites are the only ones satisfying $G_1=G_2$. Furthermore, we completely classify such quadrangles.

• International Journal of Safety
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• v.1 no.1
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• pp.1-6
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• 2002

It is important to control the high accurate position and force to prevent unexpected accidents by a robot manipulator. Direct-drive robots are suitable to the position and force control with high accuracy, but it is difficult to design a controller because of the system's nonlinearity and link-interactions. This paper is concerned with the study of the stabilization force control of direct-drive robots. The proposed algorithm is consists of the feedback controllers and the neural networks. After the completion of learning, the outputs of feedback controllers are nearly equal to zero, and the neural networks play an important role in the control system. Therefore, the optimum adjustment of control parameters is unnecessary. In other words, the proposed algorithm does not need any knowledge of the controlled system in advance. The effectiveness of the proposed algorithm is demonstrated by the experiment on the force control of a parallelogram link-type robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.11
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• pp.1819-1826
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• 1997

Direct-drive robots are suitable to the position and force control with high accuracy, but it is difficult to design a controller because of the system's nonlinearity and link-interactions. This paper is concerned with the study of the force control of direct-drive robots. The proposed algorithm consists of feedback controllers and a neural network. After the completion of learning, the output of feedback controller is nearly equal to zero, and the neural network controller plays an important role in the control system. Therefore, the optimum retuning of parameters of feedback controllers is unnecessary. In other words, the proposed algorithm does not require any knowledge of the controlled system in advance. The effectiveness of the proposed algorithm is demonstrated by the experiment on the force control of the parallelogram link-type direct-drive robot.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.2_2
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• pp.313-321
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• 2020

In this paper, two types of linear actuation methods for the previously proposed adaptive gripper are presented, which includes actual parallelogram inside a five-bar mechanism and has the advantages of smaller actuation torque and larger stroke over the commercial adaptive gripper by RobotiQ. The forward/inverse kinematics and statics analyses for two types of linear actuations are derived. From the inverse kinematics and statics analyses, linear actuation type I is selected and the gripper prototype is designed.

• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.78-85
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• 2011

This article investigates kinematic characteristics of a Sch$\ddot{o}$nflies motion generator which represents a mechanism having translational three Degree-of-Freedom (DOF) and rotational one-DOF motion about a fixed axis. The mechanism consists of the base plate and the moving plate, and four identical limbs connecting them. Each limb employs two revolute joints (RR), one parallelogram (Pa), and two revolute joints (RR) from the base plate to the moving plate. The mechanism is driven by four actuators which are placed on the base plate to minimize dynamic loads. It is shown through simulations that the mechanism can be designed to secure large dexterous workspace and thus has very high potential for actual applications such as haptic devices and high-speed requiring tasks such as pick-and-place operations, riveting, screwing tasks, etc.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.26 no.10B
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• pp.1399-1408
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• 2001

본 논문에서는 삼각형 메쉬(triangular mesh)로 이루어진 3차원 모델의 연결 정보(connectivity data)와 형상 정보(geometry data)를 삼각형 팬(triangle fan) 구조에 기반하여 효율적으로 압축하는 부호화 기법을 제안한다. 첫째로, 연결 정보의 무손실 부호화로 꼭지점 차수 왜곡(vertex degree warping) 기법을 제안한다. 기존의 알고리듬이 연결 정보와 형상 정보를 분리하여 부호화하는데 반해 제안하는 알고리듬은 연결 정보를 부호화하는데 형상 정보를 이용하여 압축 효율을 높인다. 둘째로, 형상 정보를 압축하기 위해 이중 평행사변형 예측(dual parallelogram prediction) 기법을 제안한다. 삼각형 팬 구조를 이용함으로써 기존의 삼각형 스트립(triangle strip) 기반의 알고리듬보다 정확한 형상 예측이 가능하고, 예측 오차가 작아지게 된다. 다양한 3차원 메쉬 모델에 대한 모의 실험을 통하여 제안하는 알고리듬이 기존의 알고리듬보다 우수한 압축 성능을 나타냄을 확인하다.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.16-20
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• 1988

This paper presents a new algorithm for solving the inverse kinematics in real-time applications. The end-tip movement of each link can be resolved into the basic resolution unit, .DELTA.l, which depends on link length, reduction ratio and resolution of the incremental encoder attached to the joint. When x- and y-axis projection of the end-tip movement are expressed in .DELTA.l unit, projectional increments .DELTA.x and .DELTA.y become -1, 0 or I by truncation. By using the incremental computation with these ternary value and some simple logic rules, a coordinate transformation can be realized. Through this approach, it should be noted that the floating-point arithmetic and the manipulation of trigonometric functions are completely eliminated. This paper demonstrates the proposed method in a parallelogram linkage type, two-link arm.

• ETRI Journal
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• v.20 no.1
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• pp.46-54
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• 1998

An analysis method of electromagnetic scattering from periodic patch array of double-dipole elements on a grounded dielectric substrate in case of oblique incident and arbitrary polarization is considered. The basis functions are chosen to be entire consinusoidal functions are chosen to be entire consinusoidal functions covering the rectangular shaped domain in which the original dipoles are inscribed, unlike the conventional method in which basis functions are defined only for the conducting element region. To confirm the validity of the proposed analysis method, we calculate the normalized scattered power for two propagating modes and compare the results with those obtained by the previous numerical method for the double dipole elements of rectangular type and parallelogram type which have the property of frequency scanned reflection and polarizer. Good correspondence has been observed between them. Some numerical results such as variation of power and axial ratio of first-order diffracted wave by a periodic array of double-dipole elements are compared with previous results.