• 한국자동차공학회논문집
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• 제2권3호
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• pp.33-39
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• 1994

The purpose of this research is to examine precise linear motion and rotary motion. A six-degrees-of-freedom fine motion mechanism is introduced to drive an object precisely in directions of X, Y and Z-axes and around them : three rectangular linear motion and rotary ones. An experimental mechanism is introduced in which a $70$\times$70$\times$70$\times$(${mm}^3$) cube object is driven by six PZT actuator. The study is to establish the six-degrees-of-freedom fine motion mechanism of linear motion and rotary motion using PZT actuator.

• 한국정밀공학회지
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• 제18권2호
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• pp.152-160
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• 2001

Six degrees of freedom measurement systems are required in many fields: Precision machine control. precision assembly, vibration analysis, and so on. This paper presents a new six degrees of freedom measurement system utilizing typical features of a diffraction grating. It is composed of a laser source, three position sensitive detectors, a diffraction grating target, and several optical components. Six degrees of freedom displacement is calculated kinematically from the coordinates of diffracted rays on the detectors. Optical measurement error was caused by the fact that a laser source had a Gaussian intensity distribution. This error was analyzed and compensated using simple equations. The performance of the compensation equation was verified in the experiment. The experimental results showed that the compensation equation could reduce the optical measurement error remarkably and the error in six degrees of freedom measurement less than $\pm$10$\mu$m for translation and $\pm$0.012$^{\circ}$for rotation.

• 대한조선학회논문집
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• 제43권4호
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• pp.399-413
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• 2006

Mathematical model for coupled motions of Manta-type Unmanned Undersea Vehicle(UUV) moving with six degrees of freedom, is formulated. Furthermore, a calculation method for estimating the linear hydrodynamic derivatives acting on UUV, is proposed, and some of the estimated linear hydrodynamic derivatives are compared with results of captive model experiment. Based on linear dynamic model of UUV, a study was made to examine dynamic stability and turning ability in horizontal plane. And directional stability and required elevation rudder angles for neutrally operating in vertical plane, are also discussed.

• 한국자동차공학회논문집
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• 제2권6호
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• pp.94-101
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• 1994

About vibration model of Six-degrees-of-freedom(DOF), in mass load, examined results for knowing dynamic interference and response variation is as follows; In case of putting mass load upon the object, experimented results on two-degrees-of-freedom of the translation-1 direction and the rotation-1 direction at open-loop-control system, about 0.19 arcsed in input of the translation-$0.1{\mu}m$ and $0.022{\mu}m$ on input of the rotation-0.5 arcsec, the justicse of motion equation is acknowledged as confirming the appearance of the interference-$0.022{\mu}m$. In establishing calculation of transformation matrix by using analogue circuit, as simulating results that used incomplete differentiation, interference is $1.7{\times}10^{-3}$ arcsec on input of the translation-$0.1{\mu}m$ and $1.4{\times}10^{4}{\mu}m$ on input of the rotation-0.5 arcsec in open-loop-control system. Also it is $4.2{\times}10^{-4}$ arcsec on input of the translation-$0.1{\mu}m$ and $5.6{\times}10^{-5}{\mu}m$ on input of the rotation-0.5 arcesc in closed-loop-control system. As closed-loop-control system is better than open-loop-control system, equivalent accordance is confirmed on original response. Finally, fundamental validity of this theory is acknowledged.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1611-1616
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• 1991

A high power stewart platform is designed and manufactured to simulate the 6 degrees of freedom motion of moving vehicle. This paper describes the design of such a motion system including kinematic and kinetic analysis, real time servo control mechanical and hydraulic system configuration, and techniques of regeneration of test records. Discussions are also presented for an algorithm called remote parameter control, which has been developed to compensate the dynamic delay of the electro-hydraulic servo actuators and the nonlinearities of stewart platform.

• 반도체디스플레이기술학회지
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• 제12권2호
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• pp.85-91
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• 2013

In this paper, the parabolic antenna aims to the precise location of a moving ship or car that can be designed system using the gyro sensor. The parabolic antenna has controlled by stepping motor that is a lot of noise and slow response of speed. It has solved the problem which is noise and slow response using the BLDC motor. Also, in order to suppress the noise two-axis control and a separate encoder to the six degrees of freedom motion system was implemented in a precise location. Generally, the gyro sensor is not required to system that doesn't move the six degrees of freedom motion system. But the system will be applied to the moving such as ships or cars. Finally, we presented the position control algorithm at the sometimes controlled both gyro sensor and BLDC motor. This system was tracking that the location of the antenna to the desired angle and errors almost didn't happen when the system was moved 6 degrees of freedom.

• 인터넷정보학회논문지
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• 제22권2호
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• pp.51-58
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• 2021

가상 현실 공간에서 실사 영상 및 그래픽 환경에 대해 사용자 움직임에 대응하는 영상을 제공하는 three degrees of freedom plus(3DoF+) 및 six degrees of freedom(6DoF) 시스템은 실감형 미디어를 제공하기 위해 서로 다른 위치에서 동시에 취득된 다수의 초고화질 및 고해상도의 영상 집합 전송을 요구한다. 다수의 영상들을 사용해 사용자 시점 영상을 생성할 때, 기존의 영상 압축 코덱에서 발생했던 것과는 다른 형태의 품질 저하가 발생하여 기존의 영상 품질 평가 기법들은 3DoF+ 및 6DoF 시스템 평가에 적합하지 않다. 본 논문은 3DoF+ 환경에서 합성된 사용자 시점 영상에 대한 다양한 객관적 영상 품질 평가 기법에 대한 성능 평가를 소개한다. 또한, 기존의 객관적 영상 품질 평가 기법을 조합하여 주관적인 평가와 상관관계를 더욱 높인 평가 기법인 슈퍼 메트릭(super metric)을 제시한다. 3DoF+ 몰입형 비디오 평가 시 제안한 기법을 사용하였을 때, 주관적 평가 점수와의 상관관계에서 peak signal-to-noise ratio(PSNR) 대비 0.4513의 상승이 있었음을 확인하였다.

• 산업기술연구
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• 제19권
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• pp.173-178
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• 1999

In many areas of technology there are machines and systems controllable in up to six degrees of freedom. Helicopters and underwater vehicles, industrial robots are among the first representatives of this category. They need six degrees of freedom in order to move and orient within their workspace. An even broader and more explosively growing area is 3D computer graphics and virtual environment. In this work, functions of 3D input device are described and two types of commercial 3D input device are presented. Then, a preliminary experiment of a low cost 6 axis force/moment sensor is presented that can also be sued as a 3D input device. A low cost force/moment sensor and its application in robot teaching experiment is described. It computes the direction of 3 components of the force and 3 components of the moment applied by human holding the sensor by hand. The concept is shown by an experiment where the tool position and orientation of a robot in 3 dimensional space is controlled by the proposed sensor.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1998년도 가을 학술발표회 논문집
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• pp.258-265
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• 1998

Application of the flat shell element with drilling D.O.F to linear buckling analysis of thin-walled structures is presented in this paper. The shell element has been developed basically by combining a membrane element with drilling D.O.F. and Mindlin plate bending element. Thus, the shell element possesses six degrees-of-freedom per node which, in addition to improvement of the element behavior, permits an easy connection to other six degrees-of-freedom per node elements(CLS, Choi and Lee, 1995). Accordingly, structures like folded plate and stiffened shell structure, for which it is hard to find the analytical solutions, can be analyzed using these developed flat shell elements. In this paper, linear buckling analysis of thin-walled structures like folded plate structures using the shell elements(CLS) with drilling D.O.F. to be formulated and then fulfilled. Subsequently, buckling modes and the critical loads can be output. Finally. finite element solutions for linear buckling analysis of folded plate structures are compared with available analytic solutions and other researcher's results.

• 대한기계학회논문집A
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• 제28권8호
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• pp.1212-1220
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• 2004

The structural unbalance mass and laundry are the important sources of the severe vibrations of automatic washing machines. In this paper, a mathematical model is developed for the dynamic analysis of the vertical axis automatic washing machines of pulsator-type. In the model, the rigid body motion of tub assembly is represented by six degrees of freedom and the dynamics of automatic hydraulic balancer is represented by one degree of freedom. The fundamental elastic modes of the tub shell and four suspension bars are also taken into account in the mathematical model, based on analytical and experimental modal analysis results. The 12 degrees of freedom equations of motion are derived by using the Lagrange's equations and the present dynamic model is evaluated by comparing the numerical simulation results with experimentally measured data.