• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.402-405
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• 1997

Based on the relative velocity method and the inverse kinematics theory, this paper presents an automated system for designing and manufacturing of an open type cylindrical cam with a rotating follower(OCRF). In the first part, this paper defines the relative velocity method for OCRF and calculates the contact point by using the coordinate transformation technique. In the second part, it generates NC Code of a CNC machine center for inverse kinematics by using the cutter location and the cutter orientation of OCRF. Finally, the automated CADICAM program developed in the paper shows an example on the desip and manufacture process of OCRF.

• 한국정밀공학회지
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• 제29권1호
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• pp.64-71
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• 2012

In this paper, a parallel manipulator is comprised of two sliders and four links. Sliders execute a linear reciprocating motion depending on parallel guides and make the connected links rotate. A couple of links connected by sliders do coupling motion. The end-effector called a link tip has orientation angle. Through the kinematics analysis of this manipulator, we found displacement, velocity and acceleration using direct and inverse kinematics. We used equations that derived from this analysis and determined five constraint conditions. These conditions had much to do with rotation states of links, the relative relation of link length and coupling motion state. To verify those, we suggest a new algorithm regarding constraint conditions of a manipulator. With the result which performed the algorithm, we found out that operation range of coupled links was limited by relative relation of link length and that manipulator was not able to carry out a series of link motion, in case of being the link vertical between two parallel guides.

• 대한기계학회논문집A
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• 제20권11호
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• pp.3398-3407
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• 1996

In this paper, we derive an algorithm and develope a computer program which analyze rapidly and precisely the inverse kinematics of robotic mechanism with spatial complex chain structure based on the relative coordinates. We represent the inverse kinematic problem as an optimization problem with the kinematic constraint equations. The inverse kinematic analysis algorithm, therefore, consists of two algorithms, the main, an optimization algorithm finding the motion of independent joints from that of an end-effector and the sub, a forward kinematic analysis algorithm computing the motion of dependent joints. We accomplish simulations for the investigation upon the accuracy and efficiency of the algorithm.

• International Journal of Precision Engineering and Manufacturing
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• 제8권2호
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• pp.3-8
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• 2007

A machining system that generates accurate relative motions between the tool and workpiece is required to realize ultra precise machining or measurements. Accuracy improvements for each element of the machine are also required. This paper proposes a machining system that uses a compensation device for the six-degree-of-freedom (6-DOF) motion error between the tool and workpiece. The compensation device eliminates elastic and thermal errors of the joints and links due to temperature fluctuations and external forces. A hexapod parallel kinematics mechanism installed between the tool spindle and surface plate is passively actuated by a conventional machine. Then the parallel mechanism measures the 6-DOF motions. We describe the conception and fundamentals of the system and test a passively extensible strut with a compensation device for the joint errors.

• 한국항공우주학회지
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• 제47권11호
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• pp.795-802
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• 2019

본 논문에서는 인공위성의 근접운용에서 발생할 수 있는 위치-자세 결합운동을 정의하고, 이를 듀얼 쿼터니언 기반의 운동방정식을 통해 접근한다. 인공위성의 위치-자세 결합운동은 두 위성의 상대운동에서 목표 지점이 무게 중심이 아닌 위성체 위의 임의의 점에 위치할 때 발생하며, 특히 근거리 운용에서 명확히 보여진다. 듀얼 쿼터니언 기반의 운동방정식은 각속도 상태를 직접 반영하여, 자세의 변화가 위치에 영향을 미치는 위치-자세 결합운동을 간결하게 정의할 수 있다. 여기에서는 위치-자세 결합운동의 해결을 위해 기존의 접근방법과 함께 듀얼 쿼터니언 기반의 운동방정식을 새롭게 제시한다. 수치 시뮬레이션에서는 두 위성의 상대운동에서 위치-자세 결합운동으로 목표 지점에 대한 위치 오차가 발생함을 보이고, 듀얼 쿼터니언 기반의 운동방정식이 이를 해결할 수 있음을 검증한다.

• 천문학회지
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• 제43권2호
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• pp.41-54
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• 2010

We report relative proper motion measurements of $H_{2}O$ masers in massive star-forming region W51 Main, based on data sets of VLBI observations for $H_{2}O$ masers at 22 GHz with Japanese VERA telescopes from 2003 to 2006. Data reductions and single-beam imaging analysis are to measure internal kinematics of maser spots and eventually to estimate the three-dimensional kinematics of $H_{2}O$ masers in W51 Main. Average space motions and proper motion measurements of $H_{2}O$ masers are given both graphical and in table formats. We find in this study that W51 Main appears to be associated with hyper-compact H II region with multiple massive proto-stars whose spectral types are of late O.

• 한국운동역학회지
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• 제31권1호
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• pp.64-71
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• 2021

Objective: This study investigated the different in isokinetic peak strength of the knee joint, and kinetics and kinematics in drop landing pattern of lower limb between the patellofemoral pain syndrome (PFPS) patients and normal. Method: 30 adult females were divided into the PFPS (age: 23.13±2.77 yrs; height: 160.97±3.79 cm, weight: 51.19±4.86 kg) and normal group (age: 22.80±2.54 yrs, height: 164.40±5.77 cm, weight: 56.14±8.16 kg), with 15 subjects in each group. To examine the knee isokinetic peak strength, kinematics and kinetics in peak vertical ground reaction force during drop landing. Results: The knee peak torque (Nm) and relative strength (%) were significantly weaker PFPS group than normal group. In addition, PFPS group had significantly greater hip flexion angle (°) than normal group. Moreover, normal group had significantly greater moment of hip abduction, hip internal rotation, and left ankle eversion than PFPS group, and PFPS group had significantly greater moment of knee internal rotation. Finally, there was significant differences between the groups at anteroposterior center of pressure. Conclusion: The PFPS patients had weakened knee strength, and which can result in an unstable landing pattern and cause of more stress in the knee joints despite to effort of reduce vertical ground reaction force.

• Transactions on Control, Automation and Systems Engineering
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• 제1권1호
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• pp.8-15
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• 1999

One of the main reason advocating redundant manipulators' superiority in application is that they can afford to optimize a dexterity measure, for example the manipulability measure. However, to obtain the gradient of the manipulability is not an easy task in case of general manipulator with high degrees of redundancy. This article proposes a method to compute the gradient of the manipulability, based on recursive algorithm to compute the Jacobian and its derivative using Denavit-Hartenberg parameters only. To characterize the null motion of redundant manipulators, the null space matrix using square minors of the Jacobian is also proposed. With these capabilities, the inverse kinematics of a redundant manipulator system can be done automatically. The result is easily extended to dual manipulator system using the relative kinematics.

• 한국자동차공학회논문집
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• 제2권4호
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• pp.80-90
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• 1994

Basic constraint equations derived from orthogonality conditions between a pair of body-fixed vectors and a body-fixed vector or a vector between two bodies are reformulated by using relative coordinate kinematics between two adjacent reference frames. Arithmetic numbers of operations required to compute derivatives of the constraint equations are drastically reduced. A mixed formulation of relative and cartesian coordinates is developed to further simplify derivatives of the constraints. Advantages and disadvantages of the new formulation are discussed. Possible singularity problem of para llelism constraints is resolved by introducing an extra generalized coordinate. Kinematic analysis of a McPherson strut suspension system are carried out to illustrate use and efficiency of the new formulation.

• International Journal of Automotive Technology
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• 제7권1호
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• pp.115-120
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• 2006

On a rotating contact surface of arbitrary shape, the relative velocity of the contact point sliding between the surfaces is computed with the basic geometries of the rotating surfaces, and the acceleration of the contact point between the contact surfaces is computed by using the relative velocity of the contact point. Thus the equation for the acceleration constraint between the contact surfaces in muitibody dynamics is not coupled with the parameters such as the relative velocity of the contact point. In case of the kinematic analysis, the acceleration of the contact point on any specific instant may also be efficiently computed by the present technique because the whole displacement of a full cycle need not be interpolated. Employing a cam-follower mechanism as a verification model, the acceleration of the contact point computed by the present technique is compared with that computed by differentiating the displacement interpolated with a large number of nodal points.