• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.156-163
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• 2002

This paper presents a new formulation to simplify the three resulting constraint equations of the direct kinematics of the 3-6 (Stewart-Gough) Platform. The conventional direct kinematics of the 3-6 Platform has been formulated through complicated steps with trigonometric functions in three angle variables and thus results in the computational burden. In order to reduce the formulation complexity, we replace an angle variable into a length one and express three connecting joints on the moving platform in the same frame. The proposed formulation yields considerable abbreviation of the number of the calculation terms involved in the direct kinematics. It is verified through a series of simulation results.

• Korean Journal of Applied Biomechanics
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• v.13 no.2
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• pp.29-47
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• 2003

This study is to analyze the kinematic variables in release motion of discuss throwing. For the matter, 5 people from the national team and collegiate discuss throwing in the year 2001 were chosen as the subjects and two S-VHS video cameras set in 60frames/sec were used for recording their motions. Coordinated raw positions data through digitizing are smoothing by butter-worth 's low-pass filtering method at a cut off frequency 6.0Hz. and the direct linear transformation(DLT) method was employed to obtain 3-D position coordinates. The conclusions were as follows; 1. The better record players showed the shorter approach time in the last support phase. 2. In the displacement CG, the better record players showed the shorter displacement in medial-lateral direction, and the longer displacement in horizontal direction. In the motion, the COG showed longer displacement vertical direction. 3. The better record players showed the faster horizontal velocity than vertical velocity in the release. 4. The better record players showed to take the posture of vertical axis in the release.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.12
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• pp.2899-2908
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• 2000

Methodology of volumetric error identification is presented to improve the accuracy of NC machine tools by using a reference artifact and a touch trigger probe. Homogeneous transformation matrix and kinematic chain are used for modeling the geometric and thermal errors of a three-axis vertical machining center. The reference artifact is designed and fabricated to identify the model parameters by machine tool metrology. Parameters in the error model are able to be identified and updated by direct measurement of the reference artifact on the machine tool under the actual conditions which include the thermal interactions of error sources. The proposed method can speed up and simplify volumetric error identification processes.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.170-177
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• 1993

In robotic arc welding, the roll (rotation) of the torch about its direction vector does not have any effect on the welding operation. Thus we could use this redundant degree of greedom for the motion control of the robot manipulator. This paper presents an algorithm for the pseudo- inverse kinematic motion control of the 6-axis robot, which utilizes the above mentioned redunancy. The prototype welding operation and the tool path are also graphically simulated. Since the proposed algorithm requires only the position and normal vector of the weldine as an input data, it is useful for the CAD-based off-line programming of the arc welding robot. In addition, it also has the advantages of the redundant manipulator motion control, like singularity avoidance and collision free motion planning, when compared with the other motion control method based on the direct inverse kinematics.

• Journal of KSNVE
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• v.5 no.2
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• pp.183-195
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• 1995

The mathematical model of the gear reductioner which consists which consists of the geared rotor-bearing system containing case is developed, assuming as the lumped parameter system. Constraints for vibration suppresion as well as strength of gear teeth, and shaft and kinematic conditions in gear pairs are considered. To find the design parameters satisfing the proposed constraints, a direct search method modified by the technique of Taguchi's experimental scheduling is used. One and two stepped gear reductioners are designed so that the criticl speeds due to the gear transmission error are moved out of the operating speed range.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.5
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• pp.684-690
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• 2010

A drum cam with rotational follower has a cam mechanism and it is mainly used in its application such as index table and ATC of machine tool. Also its use can reduce the backlash in its kinematic movement. To machine the drum cam with rotational follower, 5-axis CNC machine tool is generally used and its kinematic principle is included in it's design. Until now, the commercialized CAM software can't cover the application of the drum cam machining. Even if, some special software was developed for machining a drum cam, the post processing method for finish machining was not developed yet. And to overcome the problem, the form tool is still used on the tool path of rough machining. This study includes the induction of the post processing technique for the finish machining of drum cam on three 5-axis CNC machine tools, type AC, AB and BC. To prove the finishing geometric profile, the result was clearly verified through inspection and geometric measurement after direct machining of the drum cam in AC type 5-axis machine tool in this study.

• Korean Journal of Applied Biomechanics
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• v.29 no.1
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• pp.23-32
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• 2019

Objective: The aim of this study was to provide kinematic data on the characteristics of spinal disease patients by comparing and analyzing kinematic variables related to foot balance and gait pattern of spinal disease. Method: The subjects of the study included 40 adult men and 60 adult women who visited the hospital in Busan. Patients who were diagnosed with spinal disease by a physician through X-ray examination were selected as subjects for the diagnosis of vertebral disc herniation, spinal stenosis, spinal disease diagnosed with spinal disease and the general public. Left and right foot pressure and contact area were checked by Gaitview pro meter. X-ray photographs were taken with a Zen-2090 mobile fluoroscopy under physicians' direct participation. One-way ANOVA was performed to compare the differences between the kinematic variables and post-hoc was performed by the Duncan method. Results: The difference in contact area between the left foot and the right foot was $115.30{\pm}14.15cm^2$ in the left side and $124.25{\pm}13.65cm^2$ in the left side in the spinal disease patients. The difference in pressure between the left and right side of the spinal disease patients was wider than that of the general people. Especially, the right side of the spinal disease patients showed a larger area of left foot contact than the general population. Conclusion: Spinal disease patients have wider contact area of the left foot than those of the general population. In the case of right spinal disease, the left foot support area is widened due to pain. In the gait, women showed slightly more posterior body center than men, and the upper body muscle imbalance and immobilization due to the spinal disease caused imbalance of the muscles moving to the lower limb, It was analyzed to inhibit movement.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.891-895
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• 1996

Performance and efficiency of hybrid (hydraulic-mechanical) pick-up device of deep sea manganese nodules collector are very sensitive to altitude and altitude of pick-up head relative to undulating seafloor. For this reason, motion control of pick-up head relative to the changing deep sea topography and other disturbances is of particular importance in design of pick-up device. The concept of design axiom is applied to a pick-up device of hybrid type. Kinematic analysis conducted in absolute Cartesian coordinates gives position, velocity, and acceleration of the hydraulic cylinders which enable the pick-up head to keep the preset optimal distance from seafloor. Inverse dynamic analysis provides the driving forces of hydraulic cylinders and the reaction forces at each joint. Design sensitivity analysis is performed in order to investigate the effects of possible design variables on the change of the maximum strokes of hydraulic cylinders. The direct differentiation method is used to obtain the design sensitivity coefficients.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.68-74
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• 1998

Performance and efficiency of deep seabed collector is a primary factor for feasibility of commercial deep ocean mining. The efficiency of manganese nodules collector depends on vehicle mobility relative to undulating seafloor and is attributed pickup head to keep altitude and elevation of it against seafloor. For this reason, motion control of pickup head relative to the changing deep-sea topography and other disturbances is of particular importance in design of pickup device. The concept of design axiom is applied to a pickup device of hybrid type in order to evaluate the concept design. Kinematic analysis conducted in absolute Cartesian coordinates gives position, velocity, and acceleration of the hydraulic cylinders which enable the pickup head to keep the preset optimal distance from seafloor. Inverse dynamic analysis provides the driving forces of hydraulic cylinders and the reaction forces at each joint. Design sensitivity analysis is performed in order to investigate the effects of possible design variables on the change of the maximum strokes of hydraulic cylinders. The direct differentiation method is used to obtain the design sensitivity coefficients.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2804-2807
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• 2000

This paper suggests a method of the forward dynamic analysis for the computer simulation on the analysis of the dynamic behavior for biped walking robot. The equations f motion of the system or the simulation are constructed by using the Method of the multibody dynamics which is powerful method for modeling of the complex biped system. For the simplicity of simulation, we consider that the sole of the contacting foot is affected by the reaction forces for tree structure system topology instead of the addition or deletion of the kinematic constraints. The ground reaction forces can be modeled using the simple spring and damper model at the three contacting points on the sole of the foot. For minimizing the errors of numerical integration, the number of equations of motion is minimized by adding the driving constraints or a controller instead of the direct driving torques.