• Title/Summary/Keyword: variable platform

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Workspace and Force-Moment Transmission of a Parallel Manipulator with Variable Platform (가변형 병렬기구에 대한 작업공간과 힘/모멘트 전달 특성 해석)

  • Kim Byoung-Chang;Lee Se-Han
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.2
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    • pp.138-144
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    • 2006
  • Kinematic and dynamic characteristics of a Stewart platform based parallel manipulators are fixed once they are constructed. Thus parallel manipulators with various configurations are required to meet a variety of applications. In this research a parallel manipulator with variable platform (PMVP) has been developed, in which the length of the arm linking the platform center to the platform-leg contact point can be varied by an actuator. The workspace of the PMVP is larger than that of a traditional Stewart platform and especially the range in which the maximum orientation angles can be maintained is significantly expanded. Furthermore, the characteristics of force and moment transmission between the legs and platform can be adjusted to meet the requirements of various tasks. Kinematic and dynamics analysis was performed to verify the usefulness of the PMVP and the actual hardware was built to demonstrate the feasibility.

A Development of Platforms for Boiler of Thermal Power Plant (화력발전소 보일러 수퍼히트부 안전발판 개발 연구)

  • Lee, Jung Seok;Lee, Dong Lark;Kim, Hee Kyung;Jeong, Byeong Yong;Oh, Tae Keun
    • Journal of the Korean Society of Safety
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    • v.32 no.3
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    • pp.34-40
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    • 2017
  • The catastrophic collapse of the in-boiler scaffolding system in the two thermal power plants occurred in March and April 2012. After site investigation and document review, it was found that the specialized scaffolding system was imported for overhaul & maintenance and that the system did not get the safety certification at the import. In this regard, this study developed & proposed an access platform and a support for the vertical tube section of the super heat as well as a variable-length platform for the horizontal tube section, satisfying the domestic certification standards. The access platform was developed to be easy to handle by the worker with a weight of about 0.069 kN, which could reduce the risk of falling accidents and workers' musculoskeletal diseases. For the variable-length platform, it is possible to cope with various changes in length between the horizontal tubes associated with the increase of rigidity in the overlapping and the elimination of the protrusion.

A Study on Modular Agricultural Robotic Platform for Upland (밭 노지 환경 주행을 위한 모듈형 농업 로봇 플랫폼에 대한 연구)

  • Cho, Yongjun;Woo, Seong Yong;Song, Su Hwan;Hong, Hyung Gil;Yun, Haeyong;Oh, Jang Seok;Kim, Junseong;Kim, Dong Woo;Seo, Kab Ho;Kim, Dae Hee
    • The Journal of Korea Robotics Society
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    • v.15 no.2
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    • pp.124-130
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    • 2020
  • This paper designed modular agricultural robotic platform capable of a variety of agricultural tasks to address the problems caused by a decline in agricultural populations and an increase in average age. We propose a modular robotic platform that can perform many tasks required in field farming by replacing only work modules with common robotic platforms. This platform is capable of steering while driving on four wheels in an upland environment where farm work is performed, and an attitude control module is attached to each drive module to control the attitude of the platform. In addition, the width of the platform is designed to be variable in order to operate in various ridges according to the crop cultivation method. Finally, we evaluated five items: variable width, gradient, attitude control angle, step and road speed in order to carry out the farming industry while maintaining a stable posture.

The Experiment of the Robust Multi-Variable Controller and the LQG/LTR Controller for the Stewart Platform

  • Joon, Heo-Seong;Woo, Ko-Dong;Chul, Han-Myung
    • 제어로봇시스템학회:학술대회논문집
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    • pp.147.4-147
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    • 2001
  • This work presents the robust controller and the LQG/LTR controller for the stewart platform. To simplify the dynamics we combine equation of the stewart platform and linearized one of hydraulic actuators not considered condensability of the fluid. Through the connection of two dynamic equations we can omit force feedback process of actuators and design controllers for the whole system. We applied two controllers on the stewart platform and show the adequacy controllers through the result of simulation and experiment.

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Relevant Analysis on User Choice Tendency of Intelligent Tourism Platform under the Background of Text mining

  • Liu, Zi-Yang;Liao, Kai;Guo, Zi-Han
    • Journal of the Korea Society of Computer and Information
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    • v.24 no.9
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    • pp.119-125
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    • 2019
  • The purpose of this study is to find out the relevant factors of the choice tendency of tourism users to Intelligent Tourism platform through big data analysis, which will help enterprises to make accurate positioning and improvement according to user information feedback in the tourism market in the future, so as to gain the favor of users' choice and achieve long-term market competitiveness. This study takes the Intelligent Tourism platform as the independent variable and the user choice tendency as the dependent variable, and explores the related factors between the Intelligent Tourism platform and the user choice tendency. This study make use of text mining and R language text analysis, and uses SPSS and AMOS statistical analysis tools to carry out empirical analysis. According to the analysis results, the conclusions are as follows: service quality has a significant positive correlation with user choice tendency; service quality has a significant positive correlation with tourism trust; Tourism Trust has a significant positive correlation with user choice tendency; service quality has a significant positive correlation with user experience; user experience has a significant positive correlation with user choice tendency Positive correlation effect.

Layout optimization for multi-platform offshore wind farm composed of spar-type floating wind turbines

  • Choi, E.H.;Cho, J.R.;Lim, O.K.
    • Wind and Structures
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    • v.20 no.6
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    • pp.751-761
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    • 2015
  • A multi-platform offshore wind farm is receiving the worldwide attention for the sake of maximizing the wind power capacity and the dynamic stability at sea. But, its wind power efficiency is inherently affected by the interference of wake disturbed by the rotating blades, so its layout should be appropriately designed to minimize such wake interference. In this context, the purpose of this paper is to introduce a layout optimization for multi-platform offshore wind farm consisted of 2.5MW spar-type floating wind turbines. The layout is characterized by the arrangement type of wind turbines, the spacing between wind turbines and the orientation of wind farm to the wind direction, but the current study is concerned with the spacing for a square-type wind farm oriented with the specific angle. The design variable and the objective function are defined by the platform length and the total material volume of the wind farm. The maximum torque loss and overlapping section area are taken as the constraints, and their meta-models expressed in terms of the design variable are approximated using the existing experimental data and the geometry interpretation of wake flow.

Configuration Control of Vaiable-Geometry Truss Structures (가변형상 트러스구조물의 자세제어)

  • Roh, Tae-Hwan;Kim, Tae-Ik;Park, Hyun-Chul;Kwon, Young-Doo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.20 no.9
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    • pp.2854-2865
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    • 1996
  • The concept of variable-geometry truss structure(VGTS) is introduced as a class of actively controlled adaptive structure. VGTS can purposefully vary its geometric configurations by changing the lengths of some members of the structure. General kinematics and inverse kinematics of a statically determinate VGTS(variable geometry truss structure) are studied. The solution technique is based on the Jacobian matrix obtained via joint equilibrium equations. Pseudoinverse control method is applied to resolve the redundancy of a large VGTS. two types of actuator layout of octahedral type VGTS, VG truss and Stewart platform, are compared. Introducing the concept of performance index, Stewart platform based layout was found to has less consumption energy and manipulation time. A functional VGTS model with 3 octahedral modules is designed and manufactured for the labaratory demonstration. Six vertically located length-variable members are used to create general 6 d.o.f. motions.

A Realization of Digital Convergence Platform based on MPEG-21 Multimedia Framework (MPEG-21 멀티미디어 프레임워크에 기반한 디지털 컨버젼스 플랫폼 구현에 관한 연구)

  • Oh, Hwa-Yong;Lee, Eun-Seo;Kim, Dong-Hwan;Chang, Tae-Gyu
    • Proceedings of the KIEE Conference
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    • pp.227-229
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    • 2005
  • This paper proposes a method of implementation of digital convergence platform(DCP) which enable the service of broadcasting, communication, multimedia and home automation. Also digital convergence platform based on MPEG-21 multimedia framework can be a model to provide a distributed electronic commerce environment of multimedia and to manage of it. Platform hardware is implemented using a general purpose CPU and high performance digital signal processor and has peripheral units for network and multi I/O. It is able to run applications of multimedia which has variable formats on DSP. In addition, a personal transaction of multimedia packaged with MPEG-21 multimedia framework is provided on digital convergence platform. Like this, digital convergence platform bring up a new architecture of multimedia systems using a new generation network.

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An Implementation of URC Robot S/W Platform (URC 로봇용 임베디드 소프트웨어 플랫폼 구현)

  • Im, Sung-Ho;Lim, Dong-Sun;Kwon, Kee-Koo;Kim, Hyung-Joo;Im, Chang-Gyu
    • Proceedings of the KIEE Conference
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    • pp.303-305
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    • 2006
  • In this paper, we present an implementation of the URC (Ubiquitous Robotics Companion) robot S/W platform which is based on the Qplus/Esto. We applied this platform to the NETTORO which is made by hanwool robotics for URC exhibition services and test the URC services on it. We expect this platform to be used in variable URC robots as standard S/W platform for improving the compatibility and reusing the developed components.

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Modular and versatile platform for the benchmarking of modern actuators for robots

  • Garcia, Elena;Gonzalez-de-Santos, Pablo
    • Smart Structures and Systems
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    • v.11 no.2
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    • pp.135-161
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    • 2013
  • This work presents a test platform for the assessment and benchmarking of modern actuators which have been specifically developed for the new field and service robotics applications. This versatile platform has been designed for the comparative analysis of actuators of dissimilar technology and operating conditions. It combines a modular design to adapt to linear and rotational actuators of different sizes, shapes and functions, as well as those with different load capacities, power and displacement. This test platform emulates the kinematics of robotic joints while an adaptive antagonist-load actuator allows reproducing the variable dynamic loads that actuators used in real robotics applications will be subjected to. A data acquisition system is used for monitoring and analyzing test actuator performance. The test platform combines hardware and software in the loop to allow actuator performance characterization. The use of the proposed test platform is demonstrated through the characterization and benchmarking of three controllable impedance actuators recently being incorporated into modern robotics.