• Title, Summary, Keyword: Kinematic parameters

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Kinematic Analysis of Torsion Beam Rear Suspension (토션빔 후륜 현가장치의 기구학적 특성 해석)

  • 강주석
    • Transactions of the Korean Society of Automotive Engineers
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    • v.12 no.5
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    • pp.146-153
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    • 2004
  • Torsion beam rear suspension has been widely adopted to the rear suspension of vehicle by reason of simple structure and cost competitiveness. Since the kinematic characteristics of torsion beam rear suspension are determined by elastic behavior of torsion beam, quasi-static analysis based on finite element modeling of torsion beam has been conducted to obtain the kinematic parameters of torsion beam rear suspension. In this paper, simple kinematic equations with rear geometric parameters are derived to predict the kinematic behavior of torsion beam rear suspension. The suspension design parameters such as roll center height, roll stiffness, roll steer and roll camber can be easily obtained with the kinematic equations. The suggested kinematic equations are validated from comparison with the test results and solution offered by ADAMS. The suspension design parameters varied with the position of torsion beam are discussed.

The Effects of Design Parameters on the Mechanical Precision of an End Effector on a Parallel Kinematic Robot (병렬로봇의 설계공차 설정에 따른 기계적 정밀도의 영향 분석)

  • Park, Chanhun;Kim, Doohyung;Do, Hyunmin;Choi, Taeyong;Park, Dongil;Kim, Byungin
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.10
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    • pp.847-852
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    • 2016
  • In this paper, important design parameters for parallel kinematic robots are defined, paying special attention to machining errors which may cause kinematic errors at the end effector of a robot. The kinematic effects caused by each design parameter, as well as their upper/lower limits, are analyzed here. To do so, we have developed a novel software program to compute kinematic errors by considering its defined design parameters. With this program, roboticists designing parallel kinematic robots can understand the important design parameters for which upper/lower allowances have to be strictly controlled in the design process. This tactic can be used for the design of high-speed, parallel kinematic robots to reduce the design/manufacturing costs and increase kinematic precision.

development of kinematic analysis technique for pantograph structure design (판토그라프 구조설계를 위한 기구해석 기법 개발)

  • 박수홍;김휘준;정경렬;배정찬
    • Proceedings of the KSR Conference
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    • pp.107-114
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    • 1999
  • Pantograph, which collects current from cartenary system, is one of important parts of high-speed train. Kinematic analysis is basic component of pantograph design. But kinematic analysis is very complex and time-consuming. Therefore numerical calculation of pantograph kinematics is necessary. In this study, pantograph kinematic analysis software was developed and relationship between kinematic parameters and pantograph performance was investigated. The software and relationship between kinematic parameters and pantograph performance are helpful to pantograph designers

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Kinematic Characteristics during of Gait in Parkinson's Disease Patients (파킨슨 질환 환자의 보행시 운동형상학 특성)

  • You, Jae-Eung;An, Chang-Sik
    • The Journal of Korean Physical Therapy
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    • v.13 no.2
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    • pp.453-458
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    • 2001
  • The aim of this study is to present the basic reference data of age and specific gait parameters for Parkinson's Disease Patients. The basic gait parameters were extracted from 5 patients, 5 men and 65 years of age using VICON 512 Motion Analyzer. The temporal gait parameters and kinematic parameters is data of Parkinson's Disease Patients. The results were as follows; 1. The cadence, velocity, stride length decreased and single limb support period, double limb support period increased than normal adult in the temporal parameters. 2. The mean angles of joint pelvic tilt and hip, knee, ankle joint decreased than normal adult at kinematic characteristics on sagittal plane. 3. The mean angles of joint pelvic tilt and hip, knee joint has no difference than normal adult at kinematic characteristics on coronal plane. 4. The mean angles of joint pelvic tilt, hip joint no difference and internal, external rotation in ankle joint significantly decreased than normal adult at kinematic characteristics on transverse plane.

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A Study on the Characteristics of Gait in Patients with Chronic Low Back Pain (만성요통환자의 보행특성에 관한 연구)

  • Kim, Kyoung;Ko, Joo-Yeon;Lee, Sung-Young
    • The Journal of Korean Physical Therapy
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    • v.21 no.2
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    • pp.79-85
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    • 2009
  • Purpose: This study examined the characteristics of gait in patients with chronic low back pain. Methods: The subjects were out-patients suffering from chronic low back pain at the department of physical therapy, B hospital in Seoul. Gait analysis was performed by dividing the subjects into two groups. The study and control group comprised 15 chronic low back pain patients and 14 healthy people, respectively. Gait analysis was performed using a VICON 512 Motion Analysis System to obtain the spatio-temporal and kinematic parameters. Results: First, there was a significant difference in the spatio-temporal parameters between the two groups (p<0.05). Second, the study group showed significant differences in the kinematic parameters during the stance phase (p<0.05). Third, there were significant differences in kinematic parameters in the study group during the swing phase (p<0.05). Conclusion: The gait pattern of patients with chronic low back pain is characterized by more rigid patterns. Compared to the control group, there was a decrease in the spatio-temporal parameters and kinematic parameters in patients with chronic low back pain. These findings are expected to play a role as basic data and to form a rehabilitation program for low back pain patients.

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Complete Parameter Identification of Gough-Stewart platform with partial pose measurements using a new measurement device

  • Rauf, Abdul;Ryu, Je-Ha
    • 제어로봇시스템학회:학술대회논문집
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    • pp.825-830
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    • 2004
  • Kinematic calibration of Gough-Stewart platform using a new measurement device is presented in this paper. The device simultaneously measures components of position and orientation using commercially available gadgets. Additional kinematic parameters are defined to model the sources of inaccuracies for the proposed measurement device. Computer simulations reveal that all kinematic parameters of the Gough-Stewart platform and the additional kinematic parameters of the measurement device can be identified with the partial pose measurements of the device. Results also show that identification is robust for the initial errors and the noise in measurements. The device also facilitates the automation of easurement procedure.

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Swarm Intelligence-based Optimal Design for Selecting the Kinematic Parameters of a Manipulator According to the Desired Task Space Trajectory (요청한 작업 경로에 따른 매니퓰레이터의 기구학적 변수 선정을 위한 군집 지능 기반 최적 설계)

  • Lee, Joonwoo
    • Journal of The Korean Society of Manufacturing Technology Engineers
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    • v.25 no.6
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    • pp.504-510
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    • 2016
  • Robots are widely utilized in many fields, and various demands need customized robots. This study proposes an optimal design method based on swarm intelligence for selecting the kinematic parameter of a manipulator according to the task space trajectory desired by the user. The optimal design method is dealt with herein as an optimization problem. This study is based on swarm intelligence-based optimization algorithms (i.e., ant colony optimization (ACO) and particle swarm optimization algorithms) to determine the optimal kinematic parameters of the manipulator. The former is used to select the optimal kinematic parameter values, whereas the latter is utilized to solve the inverse kinematic problem when the ACO determines the parameter values. This study solves a design problem with the PUMA 560 when the desired task space trajectory is given and discusses its results in the simulation part to verify the performance of the proposed design.

Robot Calibration with Joint Stiffness Parameters for the Enhanced Positioning Accuracy (위치 정밀도 향상을 위한 관절강성 파라미터 포함 로봇 캘리브레이션)

  • Kang, Hee-Jun;Shin, Sung-Won;Ro, Young-Shick;Suh, Young-Soo;Lim, Hyun-Kyu;Kim, Dong-Hyeok
    • Journal of Institute of Control, Robotics and Systems
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    • v.14 no.4
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    • pp.406-410
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    • 2008
  • This paper presents a new robot calibration algorithm with joint stiffness parameters for the enhanced positioning accuracy of industrial robot manipulators. This work is towards on-going development of an industrial robot calibration software which is able to identify both the kinematic and non-kinematic robot parameters. In this paper, the conventional kinematic calibration and its important considerations are briefly described first. Then, a new robot calibration algorithm which simultaneously identifies both the kinematic and joint stiffness parameters is presented and explained through a computer simulation with a 2 DOF manipulator. Finally, the developed algorithm is implemented to Hyundai HX165 robot and its resulting improvement of the positioning accuracy is addressed.

Kinematic and Kinetic Analysis of the Soft Golf Swing using Realistic 3D Modeling Based on 3D Motion Tracking

  • Kim, Yong-Yook;Kim, Sung-Hyun;Kim, Nam-Gyun
    • Journal of Biomedical Engineering Research
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    • v.28 no.6
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    • pp.744-749
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    • 2007
  • Kinematic and kinetic analysis has been performed for Soft Golf swings utilizing realistic three dimensional computer simulations based on three dimensional motion tracking data. Soft Golf is a newly developed recreational sport in South Korea aimed to become a safe and easy-to-learn sport for all ages. The advantage of Soft Golf stems from lighter weight of the club and much larger area of the sweet spot. This paper tries to look into kinematic and kinetic aspects of soft golf swings compared to regular golf swing and find the advantages of lighter Soft Golf clubs. For this purpose, swing motions of older aged participants were captured and kinematic analysis was performed for various kinematic parameters such as club head velocity, joint angular velocity, and joint range of motions as a pilot study. Kinetic analysis was performed by applying kinematic data to computer simulation models constructed from anthropometric database and the measurements from the participants. The simulations were solved using multi-body dynamics solver. Firstly, the kinematic parameters such as joint angles were obtained by solving inverse dynamics problem based on motion tracking data. Secondly, the kinetic parameters such as joint torques were obtained by solving control dynamics problem of making joint torque to follow pre-defined joint angle data. The results showed that mechanical loadings to major joints were reduced with lighter Soft Golf club.

THE EVOLUTION OF THE SOLAR NEIGHBORHOOD I: CORRELATIONS OF AGE WITH METALLICITY AND KINEMATIC PARAMETERS

  • Lee, See-Woo
    • Journal of The Korean Astronomical Society
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    • v.15 no.1
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    • pp.19-36
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    • 1982
  • For ${\sim}240$ nearby stars their age and mass were determined and kinematic parameters determined for 362 stars, applying Woolley's three-dimensional potential. Metallicity and kinematic parameters of these stars were correlated with their age, suggesting the slow collapse ($t{\gtrsim}a$ few billion years) of the Galaxy and the initial rapid enrichment in metal abundance (${\Delta}Z{\approx}1/3Z_1$(present) for ${\sim}4{\times}10^8$ yrs). The late slow enrichment rate is given by $d(Z/Z_{\odot})/dt=5.9{\sim}7.0{\pm}3.4$ per Gyr.

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