• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.211-214
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• 2000

An error analysis is very important for a precision machine tool to estimate its performance. This study proposes a new parallel device, a cubic parallel manipulator. Errors of the proposed cubic parallel manipulator include universal joint errors, errors occurring due to changes in the fore directions in the links, and actuation errors. An error analysis is performed for the manipulator platform moving at uniform velocity. The analysis shows how the position and orientation of the platform influences the directional link forces that change the errors in the manipulator. The analysis shows that the method can be used in predicting the accuracy of parallel devices.

• 문화기술의 융합
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• 제6권1호
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• pp.515-520
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• 2020

본 연구에서는 4절 평행 링크의 설계와 실제 구현에 대한 것으로 평행 4절 링크는 한축의 회전을 다른 축의 회전 운동으로 전달하기 위한 기본적인 기구학적 메카니즘으로 널리 이용되고 있다. 그런데 평행 4절 링크는 운동 도중에 전환점에서 위상 역전이 발생하는 문제가 발생하여 실제 구현에서는 이를 고려하여 설계하여야 한다. 링크 역전을 방지하기 위해서는 추가적인 위상 역전 억제용 링크를 옵셋을 두어 붙이는 2중 평행 사변형 형태의 링크를 제작하면 되는 것으로 일부 알려져 있으나 실제 제작하여 실험한 결과 전환점에서 운동이 부드럽지 않은 현상이 발생하였다. 본 연구에서는 이 문제를 해결하기 위해 위상 역전 방지를 위한 옵셋을 주는 링크외에 보조적으로 평활한 운동을 위한 링크를 추가시켜 피동축이 구동축을 따라 회전할 때에 특정지점에서 위상 역전이 발생하지 않고 평활한 운동을 수행하는 것을 확인 할 수 있었다.

• 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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 A
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• pp.525-527
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• 1994

A quasi parallel resonant do-link (QPRDCL) circuit with improved PWM capability is Proposed for tile zero voltage switching (ZVS) three phase PWM inverter. The peak voltage stresses of switches are all clamped to the dc-link voltage $V_d$. The proposed QPRDCL inverter has highly improved PWM capability due to selecting the on/off instants of the resonant link at will. Operational principles and analyses of the proposed QPRDCL circuit are explained and verified by simulation results.

• 융합신호처리학회 학술대회논문집
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• 한국신호처리시스템학회 2001년도 하계 학술대회 논문집(KISPS SUMMER CONFERENCE 2001
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• pp.97-100
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• 2001

본 논문은 2자유도 평행링크 로봇의 고속궤적 추적시 링크간의 간섭을 최소화하고 시스템의 불확실성에도 불구하고 설계사양을 만족하는 제어기 설계방법을 소개한다. 이를 위해 ICD기법으로 평행링크 로봇의 채널을 분리하고 QFT를 이용해서 각 채널의 제어기를 설계한다. 마지막으로 시뮬레이션과 실험을 통해 QFT 제어기의 강인성과 우수성을 확인한다.

• 한국정밀공학회지
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• 제16권11호
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• pp.213-223
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• 1999

In this paper, input-output transmission characteristics of the Eclipse, which is a parallel machine tool capable of 5 face rapid machining, are investigated. By splitting the weighted Jacobian matrix into two parts, the force and moment transmission characteristics together with the velocity and angular velocity transmission characteristics are analyzed. A new manipulability measure, which combines the volume of the manipulability ellipsoid and the condition number of the splitted Jcobian matrix, is proposed. Two link parameters, the ratio of upper and lower platforms' radii and the length of a supporting link of the Eclipse, are designed by applying the new manipulability measure derived. Computer simulations are provided.

• 전기전자학회논문지
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• 제23권1호
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• pp.99-106
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• 2019

본 논문에서는 UPQC 시스템과 SVC를 결합한 새로운 형태의 보상장치를 제안하고자 한다. 기존의 UPQC는 직렬형 인버터, 병렬형 인버터, DC 링크로 구성되어 있어있으며 우수한 전력품질 보상 성능을 보이지만 높은 인버터 정격을 요구한다. 제안된 방식은 직렬형 인버터, 병렬형 인버터와 DC 링크 그리고 병렬형 인버터의 출력단에 결합된 SVC로 구성되어 있으며, 기존 UPQC에 비해 넓은 무효전력 보상 범위와 낮은 DC 링크 전압의 장점을 가지고 있다. 또한, SVC가 결합된 새로운 UPQC의 구성은 Matlab 시뮬레이션을 통해 성능을 검증하였다.

• 전력전자학회논문지
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• 제26권3호
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• pp.205-213
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• 2021

Due to the advantage of reducing the voltage applied to the switch semiconductor, the input series and output parallel combination is widely used in systems with high input voltage and large output current. On the other hand, the LLC converter is widely used as a high-efficiency power converter, and when connected by ISOP combination, there is a possibility that input voltage imbalance may occur due to a mismatch of passive devices. To avoid damaging the switching device, this study analyzed the DC-link voltage imbalance of a high-capacity supply using an ISOP LLC converter. In addition, the case where DC-link unbalance control was applied and the case not applied was analyzed respectively. Based on this analysis, an initial start-up algorithm was proposed to prevent input power semiconductor device damage due to DC-link over-voltage. The effectiveness of the proposed algorithm has been verified through simulations and experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 A
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• pp.429-431
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• 1994

A parallel resonant dc link inverter, one of the many resonant inverters, has some superior characteristics in camparision with other resonant inverters. But loss of the resonant oscillation and occurrence of high peak voltage in the resonant capacitor of these inverters are serious problems. In this paper, we investigate a control method for resonant dc link inverters which can overcome these problems. Experimental results are presented to show superior operation of the resonant dc link inverter using the proposed control method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 추계학술대회 논문집 학회본부
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• pp.350-352
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• 1996

A Hight Efficiency Quasi-Parallel Resonant DC-Link Inverter which shows highly improved PWM capability, low loss characteristic and low voltage stress is presented. A method to minimize freewheeling interval, which is able to largely decrease DC-link operation losses and to steadily guarantee soft switching in the wide operation region is proposed. Analysis and simple experiments were performed to verify validity of the proposed inverter topology.