• 정보처리학회논문지A
• /
• 제8A권2호
• /
• pp.167-178
• /
• 2001

This paper presents a new methodology for specification and control of the motion of an articulated rigid body for the purposes of animation by coordinate transformations. The approach is to formulate the problem as a coordinate transformation from the joint space of the body to a user-defined animation space which is chosen for convenience in constraining the motion. Constraints are applied to the resulting coordinate transformation equations. It is sufficiently general so that it can be applied to all common types of control problems, including closed loop as well as open loop mechanisms. We also provided a new approach to simulate a closed loop mechanism, which is using animation space transformation technique. The method is formulated in detail and is demonstrated by animating the motion of an inchworm.

• International Journal of Precision Engineering and Manufacturing
• /
• 제6권4호
• /
• pp.21-25
• /
• 2005

In the dynamic analysis of a mechanism, if one or more of the components are flexible, then the simulation will not be accurate because of the violation of the rigid body assumption. Mode shapes are used to represent the dynamic behavior of an elastic structure. A modal synthesis method which uses a combination of normal modes, constraint modes, and attachment modes, was used to represent effectively the elastic deformation of a flexible multibody. Since the combination of these modes should be different for each type of connecting part, the modal synthesis method was studied for the various types of interconnecting joints. In addition, the analysis procedure for the flexible body was explained. A satellite system with flexible solar panels was chosen as an example to show the effectiveness of the proposed method.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2006년도 춘계학술대회 논문집
• /
• pp.665-666
• /
• 2006

In precision laser microfabrication, focusing is essential to acquire good machining precision and uniform machining quality. If it does not perform, laser machining cannot be realized. So, confocal scanning method with high depth resolution is used for focus detection technique. This paper is concerned with a procedure for design, analysis and performance test of an autofocus fine actuating stage, which is composed of flexure-hinge type lever mechanism and piezoelectric actuator. Through series of analytical design, the stage is simplified as a rigid bodies(lever and main body) and springs(flexure hinges). The simplified model was applied to determine the dimension of flexure hinges and lever. After structural analysis confirmed design requirement, an actual stage was made and verified through an experiment on the static and dynamic characteristics(maximum stroke and 1st natural frequency). The fabricated stage was satisfied with the design requirement.

• 한국생산제조학회지
• /
• 제21권3호
• /
• pp.479-486
• /
• 2012

This paper presents a high-speed automatic micro-alignment system that is a part of an inspection machine for small-sized molded lenses of mobile phones, palm-top computers, and so on. This work was motivated by the shortcomings of existing highest-grade commercial machine. A simple tip/tilt/Z parallel mechanism is designed based on kinematic couplings, which is a 3-degree-of-freedom (3-DOF) moderate-cost alignment stage. It is used to automatically adjust the posture of each lens on the tray, which is impossible by the conventional instrument. Amplified piezoelectric actuators are used to ensure the accuracy and dynamic response. Forward kinematic analysis and simulation show that the parasitic motion is small enough compared to the actuator stroke. From the workspace analysis of the moving platform, it is clear that the output motion range satisfies the design requirements.

• 대한기계학회논문집
• /
• 제17권6호
• /
• pp.1330-1341
• /
• 1993

본 연구에서는 회전대우(revolute joint)들로 이루어진 1자유도 평면기구들의 특성을 파악하고 그래이프이론(graph theory)을 이용하여 기구의 형태를 행렬로 표시 하여 체이터베이스에 저장하였다. 또한 기구의 특성중의 하나인 작업조건(function specification)에 따른 무오차점(precision point)의 최대 개수를 알아내는 프로그램 을 개발하여 이로써 얻은 정보를 또 다른 데이타베이스에 저장하였다. 이와같이 구축 된 데이터베이스들로부터 설계자의 요구에 적합한 기구를 선택하여 형태합성 문제를 해결하였다.

• Geomechanics and Engineering
• /
• 제22권4호
• /
• pp.319-328
• /
• 2020

This paper investigates the effect of the width of failure and tension crack (TC) on the stability of cohesive-frictional soil slopes in three dimensions. Working analytically, the slip surface and the tension crack are considered to have spheroid and cylindrical shape respectively, although the case of tension crack having planar, vertical surface is also discussed; the latter was found to return higher safety factor values. Because at the initiation of a purely rotational slide along a spheroid surface no shear forces develop inside the failure mass, the rigid body concept is conveniently used; in this respect, the validity of the rigid body concept is discussed, whilst it is supported by comparison examples. Stability tables are given for fully drained and fully saturated slopes without TC, with non-filled TC as well as with fully-filled TC. Among the main findings is that, the width of failure corresponding to the minimum safety factor value is not always infinite, but it is affected by the triggering factor for failure (e.g., water acting as pore pressures and/or as hydrostatic force in the TC). More specifically, it was found that, when a slope is near its limit equilibrium and under the influence of a triggering factor, the minimum safety factor value corresponds to a near spherical failure mechanism, even if the triggering factor (e.g., pore-water pressures) acts uniformly along the third dimension. Moreover, it was found that, the effect of tension crack is much greater when the stability of slopes is studied in three dimensions; indeed, safety factor values comparable to the 2D case are obtained.

• 한국정밀공학회지
• /
• 제27권2호
• /
• pp.130-136
• /
• 2010

For stability analysis of the lumbar spine, the hypothesis presented is that the disc has stress sensors driving feedback mechanism, which could react to the imposed loads by adjusting the contraction of the muscles. Fusion in the motion segment of the lumbar spinal column is believed to alter the stability of the spinal column. To identify this effect finite element (FE) models combined with optimization technique was applied and quantify the role of each muscle and reaction forces in the spinal column with respect to the fusion level. The musculoskeletal FE model was consisted with detailed whole lumbar spine, pelvis, sacrum, coccyx and simplified trunk model. Vertebral body and pelvis were modeled as a rigid body and the rib cage was constructed with rigid truss element for the computational efficiency. Spinal fusion model was applied to L3-L4, L4-L5, L5-S1 (single level) and L3-L5 (two levels) segments. Muscle architecture with 46 local muscles was used as acting directions. Minimization of the nucleus pressure deviation and annulus fiber average axial stress deviation was selected for cost function. As a result, spinal fusion produced reaction changes at each motion segment as well as contribution of each muscle. Longissimus thoracis and psoas major muscle showed dramatic changes for the cases of L5-S1 and L3-L5 level fusion. Muscle force change at each muscle also generated relatively high nucleus pressure not only at the adjacent level but at another level, which can explain disc degeneration pattern observed in clinical study.

• 센서학회지
• /
• 제31권4호
• /
• pp.260-265
• /
• 2022

In this study, we establish hyper-elastic haptic feedback in a virtual environment using finite element analysis techniques and develop a Force Torque (FT) sensor utilization method for application in tele-operation environments. In general, regarding haptic feedback data, in a tele-operation environment, the user is provided with feedback according to the measured force data when the model is inserted through an FT sensor. Conversely, in a virtual environment, the press-fitting model can be expressed through the spring-damper system rather than an FT sensor to provide feedback. However, unlike rigid and the elastic bodies, the hyper-elastic body represented by a spring-damper system in a virtual environment is a simple impedance model using stiffness and damping coefficients; it is limited in terms of providing actual feedback. Thus, in this study, haptic feedback was implemented using the data obtained from POD-RBF analysis results during hyper-elastic press-fitting experiments. The haptic feedback mechanism developed in this study was verified by comparing the FT sensor feedback data measured and calculated through hyper-elastic press-fitting experiments with spring-damper feedback data. Subsequently, the POD-RBF analysis feedback was compared and evaluated against the feedback mechanism of each environment through the test subject, and the similarities between the POD-RBF analysis feedback and FT sensor data feedback were verified.

• 자원환경지질
• /
• 제56권3호
• /
• pp.293-300
• /
• 2023

Shape Preferred Orientation (SPO) 분석법은 단층의 운동학적 연구에 기초자료로 사용되는 단층면 운동 방향 분석을 위해 사용할 수 있는 방법으로 이용되어왔다. 단층비지 내 석영, 장석 등의 암편들로 이루어진 강성체들은 주어진 전단력에 의해 강성체 회전을 통해 P-전단 방향으로 배열되며, 이 특성을 이용해 역으로 SPO로부터 단층 운동 방향을 추정할 수 있다. 최근 X-선 CT 영상을 활용해 3D-SPO를 측정하여 빠른시간 내에 다수의 입자들의 형태를 조사함으로서 정밀도와 신뢰성을 확보하는 방법이 개발되었다. 이로서 SPO 분석법은 수천~수만개 이상의 입자들의 방향성을 빠른 속도로 분석하여 단층 운동 방향을 제시하며 용이한 접근성과 신뢰도 높은 데이터를 제공한다. 더불어 SPO 분석과정에서 획득되는 부산물인 입자들의 형태학적 정보와 방향성 분포 데이터는 단층 활동 당시 일어난 단층암의 국부적 변형, 단층 발생 메커니즘과 같은 다양한 연구를 진행할 수 있는 기초데이터로서 활용 할 수 있을 것으로 기대된다.

• 항공우주기술
• /
• 제6권1호
• /
• pp.35-44
• /
• 2007

본 연구에서는 선미익을 채용한 경항공기인 반디호의 수출형 시제기에 대한 플러터 해석을 수행하였다. 내부 하중 생성용 유한요소모델을 기초로 강성 모델을 작성하였고, 중량 통제를 위한 중량 DB에 근거하여 중량 모델을 작성하였다. 공력모델은 DLM을 이용하였다. 작성된 모델을 이용하여 1차 플러터 해석을 수행하였다. 이를 토대로 주요 진동 모드를 구분해 내고, 지상진동시험을 수행하여 진동 특성을 획득하였다. 획득된 고유진동수를 근거로 유한요소모델의 수정이 이루어졌고 2차 해석이 수행되었다. 해석 결과 주요 플러터 근의 특성을 정리하였다. 가장 중요한 플러터 근은 롤 운동을 갖는 강체 모드와 반대칭 주익 피칭 모드의 연계 모드로 판명되었다.