• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.320-327
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• 2005

A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL). The CTL mechanism has some unique properties. This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units. The recursive algorithm of the inverse kinematics that the author originally developed is employed. It is fast and stable ; moreover, it enables us to obtain a solution in which the end-point of the HRM is controlled by a portion of joints. It also presents the method of the dynamical analysis. There exist kinematical constraints in the proposed closed linkage mechanism. In the dynamic analysis constraints are sufficiently sustained by the constraint stabilization method that the author developed. The mechanical structure of the HRM having some CTL units that is under construction is shown.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.639-642
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• 1997

A cylindrical cam with a translation roller follower provides to transfer the translation motion and it s very useful mechanism in the automation. But. it's very difficult that the shape is defined accurately. This paper, proposes a new shape design method of the cylindrical cam with translation roller follower using the relative velocity method[l]. The relativc velocity method lculates the relative velocity of the follower versus the cam at a center of roller, and then determines a contact point by using the geometric relationships and the kinematical constraints. Finally, we present an example in order to prove the accuracy of the proposed methods.

• 대한기계학회논문집A
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• 제27권8호
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• pp.1324-1330
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• 2003

A cylindrical cam with a translating roller follower provides to change the rotational motion of the cam to the translation motion of the follower. It's a very useful mechanism in the automation. But, it's very difficult that the shape is defined accurately. This paper proposes a shape design method of the cylindrical cam with a translation roller follower using the relative velocity method$\^$(9,11-13)/ : The relative velocity method calculates the relative velocity of the follower versus the cam at a center of roller, and then determines a contact point by using the geometric relationships and the kinematical constraints. Finally, we present examples in order to prove the accuracy of the proposed methods.

• Fibers and Polymers
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• 제6권2호
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• pp.151-155
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• 2005

A twisting machine is to twist yarns for improving yam strength. After twisting yams, the twisting machine winds yams into a bobbin. The traverse mechanism is very important part of winding mechanism. Because it performs uniform winding onto the bobbin. the traverse cam is the main part of the traverse mechanism. This paper proposes design method of the traverse cam using the relative velocity method [4,5]. The relative velocity method is used to calculate the relative velocity of the follower versus the cam at the center of roller, and then to determine the contact point using the geometric relationship and kinematical constraints. Finally, we present examples verifying the accuracy of the proposed methods.

• 한국공작기계학회논문집
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• 제17권2호
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• pp.13-22
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• 2008

For the accuracy correction of the micro-positioning industrial robot, micro-manipulator has been devised. The compliant mechanisms using piezoelectric actuators is necessary geometrically and structurally to be developed by the optimization approaches. The overall geometric advantage as the mechanical efficiencies of the mechanism are considered as objective functions, which respectively art the ratio of output displacement to input force, and their constraints are the vertical notion of supporting leg and the structural strength of manipulation. In optimizing the compliant mechanical amplifier, the sequential linear programming and an optimality criteria method are used for the geometrical dimensions of compliant bridges and flexure hinges. This paper presents the integrated design process which not only can maximize the mechanism feasibilities but also can ensure the positioning accuracy and sufficient workspace. Experiment and simulation are presented for validating the design process through the comparisons of the kinematical and structural performances.

• 연구논문집
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• 통권31호
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• pp.101-112
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• 2001

A Twisting machine is to twist yarns for improving yarn stiffness. After twisting yarns, the twisting machine is winding yarn at a bobbin. Traverse cam is main part of winding yarn part. In other to improve twisting machine performance and stability, improve traverse cam part. Original displacement curves of traverse cam has two problems. One is that displacement curve has a vertex point the other is that velocity curve is discontinue point. So that, in this paper proposes a modified displacement curves of traverse cam and new shape design method of the traverse cam using the relative velocity method[1]. The relative velocity method calculates the relative velocity of the follower versus the cam at a center of roller, and then determines a contact point by using the geometric relationship and the kinematical constraints. Finally, we present to compare two designed cam. One is designed using original displacement curves the other is using modified displacement curve.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1996년도 추계학술대회논문집; 한국과학기술회관, 8 Nov. 1996
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• pp.189-196
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• 1996

Vibration of a beam translating over supports in vertical motion is investigated in this paper. Equations of motion are formulated using the virtual work principle by regarding the supports as kinematical constraints imposed on an unrestrained beam and by discretizing the beam via the assumed mode method. Differential-algebraic equations of motion are derived and reduced to differential equations in independent generalized coordinates by the generalized coordinate partitioning method. Geometric stiffness of the beam due to translating motion is considered and how the geometric stiffness of beam affects dynamic stability is also investigated. Instability of the beam. in various conditions is also investigated using Floquet theory and then the results are verified through the dynamic response analysis. Results of numerical simulation are presented for various prescribed motions of the beam.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.685-696
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• 2011

An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.

• 한국산학기술학회논문지
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• 제2권1호
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• pp.13-17
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• 2001

본 논문에서는 공업용 재봉기의 구성설계를 기능적 접근법을 이용하여 수행하였다. 구성설계 방법을 설계에 이용하면 제품의 개발시간을 줄일 수 있고, 기존의 기구 메커니즘 데이터를 효율적으로 이용할 수 있는데 이러한 구성설계를 구현하기 위해 전문가 시스템을 이용 하였다. 설계 구속조건은 전문가 시스템의 추론기능과 CBR(Case Based Reasoning) 방법을 사용하여 만족되도록 하였으며 전문가 시스템의 API 기능을 이용하여 기구해석과 최적설계가 외부 프로그램을 이용하여 수행됨으로서, 공업용 재봉기의 개념설계가 효율적으로 수행될 수 있도록 하였다.

• 말소리와 음성과학
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• 제2권3호
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• pp.101-113
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• 2010

The present study investigated how the kinematics of the /a/-to-/i/ tongue movement in Korean would be influenced by prosodic boundary. The /a/-to-/i/ sequence was used as 'transboundary' test materials which occurred across a prosodic boundary as in /ilnjəʃ$^h$a/ # / minsakwae/ ('일년차#민사과에' 'the first year worker' # 'dept. of civil affairs'). It also tested whether the V-to-V tongue movement would be further influenced by its syllable structure with /m/ which was placed either in the coda condition (/am#i/) or in the onset condition (/a#mi). Results of an EMA (Electromagnetic Articulagraphy) study showed that kinematical parameters such as the movement distance (displacement), the movement duration, and the movement velocity (speed) all varied as a function of the boundary strength, showing an articulatory strengthening pattern of a "larger, longer and faster" movement. Interestingly, however, the larger, longer and faster pattern associated with boundary marking in Korean has often been observed with stress (prominence) marking in English. It was proposed that language-specific prosodic systems induce different ways in which phonetics and prosody interact: Korean, as a language without lexical stress and pitch accent, has more degree of freedom to express prosodic strengthening, while languages such as English have constraints, so that some strengthening patterns are reserved for lexical stress. The V-to-V tongue movement was also found to be influenced by the intervening consonant /m/'s syllable affiliation, showing a more preboundary lengthening of the tongue movement when /m/ was part of the preboundary syllable (/am#i/). The results, together, show that the fine-grained phonetic details do not simply arise as low-level physical phenomena, but reflect higher-level linguistic structures, such as syllable and prosodic structures. It was also discussed how the boundary-induced kinematic patterns could be accounted for in terms of the task dynamic model and the theory of the prosodic gesture ($\pi$-gesture).