• Journal of Institute of Control, Robotics and Systems
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• v.4 no.3
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• pp.360-371
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• 1998

In this paper, output precision characteristics of a planar 6 degree-of-freedom parallel mechanisms are investigated, where the 6 degree-of-freedom mechanism is formed by adding an additional link along with an actuated joint in each serial subchain of the planar 3 degree-of-freedom parallel mechanism. Kinematic analysis for the parallel mechanism is performed, and its first-order kinematic characteristics are examined via kinematic isotropic index, maximum and minimum input-output velocity transmission ratios of the mechanisms. Based on this analysis, two types of planar 6 degrees-of-freedom parallel manipulators are selected. Then, dynamic characteristics of the two selected planar 6 degree-of-freedom parallel mechanisms, via Frobenius norms of inertia matrix and power modeling array, are investigated to compare the magnitudes of required control efforts of both three large actuators and three small actuators when the link lengths of three additional links are changed. It can be concluded from the analysis results that each of these two planar 6 degrees-of-freedom parallel mechanisms has an excellent control-in-the-small characteristics and therefore, it can be very effectively employed as a high-precision macro-micro manipulator when both its link lengths and locations of small and large actuators are properly chosen.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.213-216
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• 1996

This paper studies a class of in-parallel manipulators with special geometry where the forward displacement analysis problem can be solved easier than the fully parallel manipulators. Three horizontal links of this mechanism provide 3DOFs(Degrees of Freedom), which are one degree of orientational freedom and two degrees of translatory freedom. Three vertical links of this mechanism provide 3DOFs, which are two degrees of orientational freedom and one degree of translatory freedom. The main advantages of this manipulator, compared with the Stewart platform type, are the capability to produce pure rotation and to predict the motion of the moving platform easily. Since this manipulator has simple kinematic characteristics compared with the Stewart platform, controlling in real-time is possible due to less computational burden. The purpose of this investigation is to develope an analytical method and systematic method to analyze the basic kinematics of the manipulator. The basic kinematic equations of the manipulator are derived and simulation is carried out to show the performance of the mechanism.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.621-626
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• 2002

Two problems in the measurement of 6-DOF head vibration in very low frequency range were investigated in this study. One is how much error was involved in the estimation of three rotational and three translational motion at any specified point from measured 6 translational accelerations. The other is quantitative and qualitative influence of gravity on DC and AC component of the estimated accelerations in 6 degree of freedom, which were derived from pick-ups fixed on a helmet. In the study the effect of nonlinear terms on the estimation of 6 degree of freedom accelerations was negligible but gravity effect must be considered carefully.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.227-235
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• 2006

For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.190-197
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• 2002

A new design methodology is presented for the multi-degree-of-freedom vibration absorber for an elastically suspended rigid body with planes of symmetry in general motion. Unlike the common single degree-of-freedom vibration absorber, the presented methodology makes use of both linear and rotational properties of the absorber. It is suggested that an absorber is designed separately for the in-plane and out-of-plane vibration modes and thereby combined the two cases for a six-degree-of-freedom absorber. The nine possible design methods are suggested for the six-degree-of-freedom absorber when an elastically suspended rigid body has one, two, or three planes of symmetry.

• Journal of Power System Engineering
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• v.10 no.1
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• pp.12-18
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• 2006

A three-degree of freedom model of intake system was contrived and investigated in various ways for the purpose of the amelioration of the volumetric efficiency in a low and transient engine speed for a multi cylinder diesel engine. The basic concept beyond this model started from the theory that each degree of freedom model has volumetric efficiency peak as many as its number of the degree of freedom. The volumetric efficiency affects significantly to the engine performance; torque characteristics, fuel economy and emission level. For commercial vehicles and stationary engines, the engine is designed so as to produce their best performance near the normal engine speeds, thus the low engine speed area has a tendency of poor volumetric efficiency. The aim of this study was highlighted on the amelioration of volumetric efficiency of low engine speed area in a multi cylinder diesel engine matched with an additional Helmholtz resonator. By the use of VIS(variable induction system) volumetric efficiency at low engine speed range was significantly improved. The availability of control by combination of VIS and CIS(conventional induction system) will be proposed as a variable induction system that would be an appropriate model for amelioration of the volumetric efficiency at low engine speed.

• International Journal of Highway Engineering
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• v.9 no.3
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• pp.91-100
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• 2007

The most important thing for driver's safety on the road is equipment of crash cushion as a vehicle protection safety facility. But development of crash cushion is defective because there's no rational and reality way of design. And also without an alternative plan, it rely on crash test hereby it suffers a great economic loss and wastes time. This study that uses data of cash test proves the suitability of single degree of freedom which considers the safety of passengers about three-dimensional complicated Crash Analysis. As the study analyzes the conduct of crash cushion, it want to develop the effective method of design on Single Degree of Freedom Crash Cushion. And it presents the way of crash cushion design through making a crash analysis model with single degree of freedom. To verify the validness of the crash cushion plan, with single degree of freedom plan, we make the level CC2 crash cushion and execute the crash test. A performance test brings satisfied result and a plan of single degree of freedom crash cushion is proven as an one of the way to be a good system which can design crash cushion.

• Journal of the Korean School Mathematics Society
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• v.23 no.3
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• pp.239-257
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• 2020

This study analyzes the degree of freedom with three aspects: as academic knowledge, in the curriculum focused on textbooks, and students' understanding of the degree of freedom. The results provide five critical points. First, we need discussions on whether to include the degree of freedom in the curriculum. Second, we need to reconsider the current way textbooks are described. Third, there should be a didactical analysis to advance students' understanding of the concept of the degree of freedom. Fourth, there are limitations in learning the concept of the degree of freedom in the current textbook learning environment. Fifth, a didactical check of sampling distribution such as sample mean, sample variance, and sample standard deviation is required. The implications were drawn that the emphasis on statistical reasoning education in the curriculum and careful consideration of introducing the t-distribution curriculum was required.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.1
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• pp.50-56
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• 2012

The Multi D.O.F spherical motor can drive rotating as well as tilting three degree of freedom with one motor. Existing three degree of freedom to drive with three motors that are connected by gears and belts, that will be too large size and big loss at gears and belts. So Reducing system size and improving efficient is using the Multi D.O.F spherical motor in three degree of freedom systems. For this reason, efficiency of Multi D.O.F spherical motor is one of the important performance indiccators. In this paper presented that how to improve the efficiency of the Multi D.O.F spherical motor. The fist of method is using the stator iron core's material with high permeability and resistivity for reducing the eddy current loss. However, it was the disadvatages of motor-making and economic. So author propose the resonable method of reducing the eddy current loss in the stator iron core. That is using the rotor with double-air gap.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1996.10a
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• pp.78-85
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• 1996

The effect of vertical vibration of a beam is significantly influenced by higher modes of vibration. Therefore, a beam can be modeled using several elements must De used to represent a vibrating beam. As a result, analysis of a space framed structure for vertical vibration requires increase number of elements leading to more complicated model with many degree of freedom which requires large amount of computing resources for dynamic analysis. An efficient analysis method for vertical vibration of space framed structures are proposed in this paper which is presented in three method. The first method is to determine minimum nodes that shall be used to obtain dynamic response with the vertical vibration. Secondly, matrix condensation methods are introduced to reduce the computation efforts used to perform dynamic analysis and the selection of primary degree-of-freedom is proposed. The third method is of using the mass participation factor for the selection of primary degree-of-freedom.