• Structural Engineering and Mechanics
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• 제54권4호
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• pp.793-807
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• 2015

Constructing the influence lines of forces of statically indeterminate structures is a traditional issue in structural engineering and mechanics. However, the existing kinematic method for establishing these force influence lines is an indirect or mixed approach by combining the force method with the theorem of reciprocal displacements, which is yet inconsistent with the kinematic method for statically determinate structure. This paper proposes the direct kinematic method in conjunction with the load-displacement differential relation for exactly constructing influence lines of reaction and internal forces of indeterminate structures. Firstly, through applying the principle of virtual displacement, the formula for influence lines of reaction and internal forces of indeterminate structure via direct kinematic method is derived based on the released structure. Then, a computational approach with a clear concept and unified procedure as well as wide applicability based on the load-displacement differential relation of beam is suggested to achieve conveniently the closed-form expression of force influence lines, and exactly draw them. Finally, three representative examples for constructing force influence lines of statically indeterminate beams and frame illustrate the superiority of the proposed method.

• 로봇학회논문지
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• 제17권2호
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• pp.183-190
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• 2022

Accurate kinematic parameters of mobile robots are essential because inaccurate kinematic model produces considerable uncertainties on its odometry and control. Especially, kinematic parameters of caster type mobile robots are important due to their complex kinematic model. Despite the importance of accurate kinematic parameters for caster type mobile robots, few research dealt with the calibration of the kinematic model. Previous study proposed a calibration method that can only calibrate double-wheeled caster type mobile robot and requires direct-measuring of robot center point and distance between casters. This paper proposes a calibration method based on geometric approach that can calibrate single-wheeled caster type mobile robot with two or more casters, does not require direct-measuring, and can successfully acquire all kinematic parameters required for control and odometry. Simulation and hardware experiments conducted in this paper validates the proposed calibration method and shows its performance.

• 한국자동차공학회논문집
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• 제5권1호
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• pp.38-48
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• 1997

A method for performing kinematic design sensitivity analysis of vehicle suspension systems is presented. For modeling of vehicle suspensions, the multibody dynamic formulation is adopted, where suspensions are assumed as combination of rigid bodies and ideal frictionless joints. In a relative joint coordinate setting, kinematic constraint equations are obtained by imposing cut-joints that transform closed-loop shape suspension systems into open-loop systems. By directly differentiating the constraint equations with respect to kinematic design variables, such as length of bodies, notion axis, etc., sensitivity equations are derived. By solving the sensitivity equations, sensitivity of static design factors that can be used for design improvement, can be obtained. The validity and usefulness of the method are demonstrated through an example where kinematic sensitivity analysis of a MacPherson strut suspension of performed.

• 한국정밀공학회지
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• 제20권3호
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• pp.133-139
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• 2003

Direct motor-driven winding has been increasingly applied in winding machinery. However, it is necessary to analyze the kinematics of winding prior to developing the winding control algorithm, because direct motor-driven winding machine should be operated in accordance with the pre-determined kinematic information for the winding control. This paper presents the kinematics of the degressive winding method and its kinematic winding control algorithm in order to wind the required volume of a pirn package in a desired shape. The proposed algorithm can give the appropriate yarn speed, traverse speed, and the spin speed of the spindle at every traverse stroke, which are utilized for controlling the spindle motor and traverse motor of the winding machine. Computer winding simulations showed that the proposed algorithm is successful in the degressive pirn winding.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.217-222
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• 2001

We propose a new two-degree of freedom parallel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performanced and to achieve static balance. We use the panto graph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularity. The direct kinematic singular configurations of the SenSation occur near the workspace boundary. Using the property that position vector of rigid body rotating about a fixed point is normal to the velocity vector, Jacobian matrix is derived. Using the vector method, two different types of singularities of the SenSation can be identified and we discuss the physical significance of each of the three types of singularities. We will compare the kinematic performances(force manipulability ellipsoid, kinematic isotropy) of the SenSation with those of five-var parallel mechanism. By specifying that the potential energy be fixed, the conditions for the static balancing of the SenSation is derived. The static balancing is accomplished by changing the center of mass of the links.

• 한국생산제조학회지
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• 제7권3호
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• pp.110-117
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• 1998

A continuum-based configuration design sensitivity analysis method is developed for kinematically driven mechanical systems. The configuration design variable for mechanical systems is defined. The 3-1-3 Euler angle is employed as the orientation design variable. Kinematic admissibility conditions of configuration design change. Direct differentiation method is used to derive the governing equations of the design sensitivity. Numerical examples are presented to demonstrate the validity and effectiveness of the proposed method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.580-583
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• 2002

This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators, which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics. The closed-form solution contains two different meanings-analytical and real-time. So we reach the goal of practical application and control. A numerical example is also presented and are verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1999년도 춘계학술대회논문집
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• pp.98-101
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• 1999

The plastic instable flow phenomenon happens in practical forming process I. e. upsetting backward extrusion piercing indentation. And also it is difficult to control precisely the shape and dimensions of forming process. It is found that instabilities of the process are mainly connected with imperfection in the lubrication billet eccentricity inclined punch alignment. In view of the direct relationship between instable material flow and quality defects of the products and it is for better control of forming operation we should necessarily find out their phenomena. In this study we used the friction disturbance due to inclined punch angle and introduced the method considering kinematic hardening effect Analysis of upset forging is carried out using the rigid plastic FEM and slab method with eccentricity.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.83.4-83
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• 2001

The paper presents a new closed-form, not a polynomial-form, solution of the direct kinematics of the 3-6 (Stewart-Gough) Platform. Many research works have presented a single high-order polynomial equation of the direct kinematics. However the polynomial equation causes potential problems such as complicated formulation procedures and discrimination of the actual solution from all roots, which results in time-consuming task and heavy computational burden. Thus, to overcome these problems, we use a new formulation approach, based on the Tetrahedron Approach, to derive easily a closed-form nonlinear equation of the direct kinematics and use not the Newton-Raphson method, but the Secant method to obtain quickly the solution from ...

• 한국지형학회지
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• 제28권4호
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• pp.41-52
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• 2021

With the popularization of drones and the ease of use of the Global Navigation Satellite System (GNSS), drone photogrammetry for terrain information has been widely used. Drone photogrammetry enables the realization of high-accuracy three-dimensional topography for the entire area with less effort and time compared to the past direct survey using GNSS or total station. From 3-D topographic data, various topographical analysis is possible. To improve the accuracy of drone photogrammetry, direct GCP surveying in the field is essential, and the numbers and reasonable positioning of GCPs are very important. In the case of beaches or tidal flats on the west coast of Korea, the numbers and location of GCPs are important factors in efficient drone photogrammetry because of the size of the area, difficulties of movement, and the risk from tides. If the RTK (Real-time kinematic) or PPK (Post-processed kinematic) method is used, the increased accuracy of the drone's location enables high-accuracy photogrammetry with a small number of GCPs. This study presents an efficient drone photogrammetry method in terms of time and economy by comparing and analyzing the results of drone photogrammetry using Non-PPK with low-cost PPK-Kit, based on the tests of various numbers and locations of GCPs in the university field including various slopes and structures like coastal terrain.