• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.334-339
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• 1994

In this work, we propose a planar three degree-of-freedom parallel mechanism as another type of assembly device which utilized joint compliances. These joint compliances can be adjusted either by properly replacing the joint compliances or by actively controlling stiffness at joints, in order to generate the desired operational compliance characteristics at RCC point, The operational compliance matrix for this mechanism is explicitly obtained by symbolic manipulation and its operational compliance characteristics are examined, it is found that the RCC point exists at the center of the workspace when the mechanism maintains symmetric configurations. Compliance characteristic and its sensitivity of this mechanism is analyzed with respect to the magnitude of the diagonal compliance components and two different matrix norms measuring compliance sensitivity. It is expected that the analysis results provide the designer with a helpful information to determine a set of optimal parameters of this RCC mechanism.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1529-1532
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• 2003

This paper deals with the impact analysis of the impact absorbing system consist of one degree of freedom and two degree of freedom damping-spring system in spreader to increase efficiency of it. It shows the optimum damping coefficient and spring constant of impact absorbing system using for crane spreader and the optimum condition of impact absorbing system causing certain contact impulse. In the optimal model, the contact impulse is reduced 98.57 percent and 92.22 percent respectively.

• 한국공간구조학회:학술대회논문집
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• 한국공간구조학회 2005년도 춘계학술발표회 및 정기총회 2권1호(통권2호)
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• pp.215-226
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• 2005

To study the influence of an lower part on the seismic response of a spatial structure as the upper part of a structure, as a first step, authors subsititude the upper part and the lower part of a structure to single degree of freedom systems indivisually, and set up structural models connected by them. It is clarified that the mass ratio and the period ratio of an upper part to a lower part are important parameteres to find the amplification or reduction of the sesimic response of an upper part by considering of a lower part.

• 한국정밀공학회지
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• 제15권11호
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• pp.199-207
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• 1998

This paper presents the design and the control of three degree-of-freedom(DOF) fine positioning device based on an electro-magnetic force. The device is designed by use of a magnetic circuit theory and it is capable of fine motion due to the electro-magnetic force. The device consists of permanent magnets, yokes and coils. The magnetic fluxes generated from the permanent magnets constitute magnetic paths through steel, whereas the coils are arranged into the gap between two surfaces of the yokes. Therefore, by supplying current to the coils, the coils are capable of some motions due to Lorentz forces. For the optimal design of the actuating system, the system parameters are defined and investigated under the given constraints. From the system modeling in small displacement, three decoupled equations of motion are obtained. To get better performance of the system, a PID controller is implemented. Experimental results are presented in terms of time response and accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1040-1043
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• 1996

The accuracy of the servo control in CNC system has a great influence on the duality of machine product. Tracking performance of the servo control is deteriorated mainly by the time delay of the servo system and the inertia of the work table or bed. Contouring errors occur in every interpolation steps by the effect of the tracking performance. In this paper, $H_{\infty}$ two-degree-of-freedom(TDF) controller is designed for improvement to improve the tracking performance. The designed controller is applied 3-axis machining center model and the cutting accuracy is simulated in case of corner cutting, circular and involute interpolation. Simulation results show that $H_{\infty}$ TDF controller designed in this paper has a good effect to improve tracking performance in CNC system.

• Journal of Electrical Engineering and Technology
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• 제6권5호
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• pp.618-625
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• 2011

This paper presents a double excited three degree-of-freedom (3DOF) motor. The proposed 3DOF motor is designed with a laminated structure, making it easy to manufacture. In addition, it has windings on the stator and rotor, and does not require an expensive permanent magnet. We explain the structure, principle of motion, and design of the proposed motor, and perform an analysis of the static characteristics using the two- and three-dimensional finite element methods (3D FEM). The feasibility of 3D FEM analysis is confirmed by comparing the 3D FEM analysis and experimental results for the rolling and pitching motion. We also confirm the occurrence of holding torque in every motion.

• 한국정밀공학회지
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• 제24권4호
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• pp.109-114
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• 2007

The mobility (degree of freedom) of mechanisms can be regarded as independent coordinate to define its position. This concept is essential for kinematics, and for designing mechanisms in the practical point of view. Gruebler's equation has been applied to estimate the mobility using number of links and joints of a mechanism. In practical case, there are many types of mechanisms, which transfer motion by direct contact between two links. However, no exact kinematic definition has existed for the joint that the contact takes place in a mechanism. In this paper, a new concept of contact joint is defined and modified Gruebler's equation is suggested to calculate mobility of a mechanism with the joint. This concept would be useful in mechanism design because it will be possible to manage many contact mechanisms with kinematic exactness.

• 대한기계학회논문집A
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• 제29권11호
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• pp.1509-1517
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• 2005

This paper presents the two degree-of-freedom(DOF) planar parallel mechanism called 2R$\underline{P}$R-RP manipulator, whose degree-of freedom is dependent on a passive constraining leg connecting the base and the platform. First, the kinematic analysis of the mechanism is performed analytically: the inverse and forward kinematic problems are solved in the closed font the practical workspace is systematically derived, and all of the singular configurations are examined. Then, in order to determine the geometric parameters and the operating limits of the actuators, the optimization of the mechanism is performed considering its dexterity and stiffness. Finally, the kinematic performances of the optimized mechanism are evaluated through comparing to the 5-bar parallel manipulator.

• 한국항만학회지
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• 제13권2호
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• pp.389-398
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• 1999

In the biological immunity, the immune system of organisms regulates the antibody and T-cells to protect the attack from the foreign materials which are virus, germ cell, and other antigens, and supports their stable state. It has similar characteristics that has the adaptation and robustness to overcome disturbances and to control the plant of engineering application. In this paper, we build a model of the T-cell regulated immune response mechanism. We have also designed an immune response controller(IRC) focusing on the T-cell regulated immune response of the biological immune system that include both a help part to control the response and a suppress part to adjust system stabilization effect. We show some computer simulation to control the vibration of building structure system with strong wind forces excitation also demonstrate the efficiency of the proposed controller for applying a practical system even with existing nonlinear terms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.528-531
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• 1997

This paper deals with the kinematic and dynamic modeling of a 3 degree-of-freedom redundantly actuated mobile robot for the purpose of analysis and control. Each wheel is driven by two motors for steering and driving. Therefore, the system becomes force-redundant since the number of input variable is greater than the number of output variable. The kinematic and dynamic models in terms of three independent joint variables are derived. Also, a load distribution method to determine the input loads is introduced. Finally we demonstrate the feasibility of the proposed algorithms through simulation.