• 제어로봇시스템학회논문지
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• 제15권9호
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• pp.952-958
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• 2009

This article presents a combined structure of serial and parallel mechanisms for a humanoid robot. The 3 DOF parallel structure is designed and added to the waist of the humanoid robot arm to give flexible bending and rotating motions. Forward and inverse kinematics of a serial and parallel robot have been analyzed to generate motions. Simulation studies of verifying kinematics solutions of the parallel robot have been done. Experimental studies of mimicking shake-hands motion have been conducted to show the feasibility and usability of the combined structure.

• 한국정밀공학회지
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• 제13권2호
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• pp.146-158
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• 1996

This paper develops a robot arm for propeller blade grinding. The grinding work requires a high stiffness robot arm to reduce deformation and vibration which are generated during machining operation. Conventional articulated robots have serial connecting links from the base to the gripper. Thus, they have very weak structure to the stiffness for grinding operation. Stewart Platform is a typical parallel robotic mechanism with very high stiffness but it has small work space and large installation space. This research proposes a new grinding robot arm by combining parallel mechanism with serial mechanism. Therefore, the robot has large range of work space as well as high stiffness. This paper introduces the automatic system for propeller grinding utilizing the robot and the design of proposed robot arm.

• 제어로봇시스템학회논문지
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• 제13권4호
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.621-625
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• 2005

This paper presents a new hybrid serial-parallel robot(HSPR), which has six degrees of freedom driven by ball screw linear actuators and motored joints. This hybrid robot design presents a compromise between high rigidity of fully parallel manipulators and extended workspace of serial manipulators. The hybrid robot has a large, singularity-free workspace and high stiffness. Therefore, the presented kinematic structure of the hybrid robot is particularly suitable for multi-tasking machining processes such as milling, drilling, deburring and grinding. In addition to the machining processes, the hybrid robot can be used for welding, fixturing, material handling and so on. The study on design of the hybrid robot is performed. A kinematic analysis and mechanism description of the hybrid robot with six-controlled degree of freedom is presented. In the virtual design works by DADS, workspace and force analysis are discussed. A numerical model is treated to demonstrate our analysis and to determine the range of permissible extension of the struts. Also, we determine some important design parameters for the hybrid robot.

• KEPCO Journal on Electric Power and Energy
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• 제2권4호
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• pp.609-613
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• 2016

전기자동차 배터리 셀들 간의 불균형 충전 문제를 해결하기 위해, 직병렬 하이브리드 충전 구조를 개발하였다. 이 방법은 직렬 부분에 의해 주 충전이 수행되며 병렬 부분에 의해 밸런싱이 수행되는데, 이 때, 직렬 부분은 부피가 크고 무겁지만 병렬 부분은 직렬 부분보다 작고 가볍다. 개별 배터리 셀 전압을 측정하기 위한 센서 어레이, 듀티비 제어를 포함한 IGBT, 그리고 배터리 관리 시스템은 제안된 시스템의 핵심 요소이다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.810-815
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• 2004

In this paper, we propose new parallel mechanism of a 3 dimensional biped robot whose each leg is composed of two 3-dof parallel platforms linked serially. This proposed parallel mechanism is able to move freely in the man-made environment and is applied to various fields, such as medical, welfare, and so on. And a total weight of each leg is expected to be lighter than serial linked leg. One side leg consists of a 3-dof orientation platform and 3-dof asymmetric parallel platform. The former consists of three active linear actuators and seven passive joints, and the latter of two active linear actuators, one active rotational actuator and eight passive joints. Thus, there are two kinds of parallel platforms each chain's elements and active joint's positions are different for the biped robot to move freely like a serial link without the kinematics constraints. The effectiveness and the performance of the proposed parallel mechanism and locomotion trajectory are shown in computer simulations with a 12-DOF parallel biped robot.

• 한국정밀공학회지
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• 제18권7호
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• pp.9-18
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• 2001

• 한국정밀공학회지
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• 제14권12호
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• pp.56-65
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• 1997

This paper presents the robot program for propeller grinding. A robot manipulator is constructed by combining a parallel and a serial mechanism to increase high sitffness as well as workspace. The robot program involves inverse/direct kinematics, velocity mapping, Jacobian, and etc. They are cerived in efficient formulations and implemented in a real time control. A velocity control is used to measure the hight of a propeller blade with a touch probe and a position control is performed to grind the surface of the blade.

• 한국정밀공학회지
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• 제30권10호
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• pp.1069-1077
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• 2013

These days, the interest of high speed robotic system is increasing because it is very important to get the cost-competitiveness. The parallel kinematic mechanism is more useful than the serial kinematic mechanism. For the reason, the researches on the parallel robot system as a high speed robotic one are have been done by many researchers. In this paper, the research on the design and analysis of the high speed parallel robot has been done by the authors. First, Basic robot structure is designed and modal analysis is studied to get the basic characteristics of the vibrational motion. Second, the harmonic analysis is studied to get the information of the natural frequency in some different designs of the outer-arm of the parallel robot. Finally, actual robot system is designed and implemented and it is confirmed that the analysis results coincide with the experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.638-642
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• 2005

This research develops the robot for the machining work. For machining work(cutting, milling, grilling, etc.), a robot manipulator is constructed by combining a parallel and a serial mechanism to increase stiffness as well as enlarge workspace. Based on the geometric constraints, this paper develops the formulation for inverse/direct kinematics and Jacobian to design and control a robot. Workspace is also analyzed to prove the advantage of the proposed robot.