• 제목/요약/키워드: Three Degree of Freedom

검색결과 350건 처리시간 0.026초

평면형 병렬 메카니즘의 국소적 제어 특성에 관한 연구 (A study on the control-in-the-small characteristics of a planar parallel mechanism)

  • 김희국;조황;김재섭
    • 제어로봇시스템학회논문지
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    • 제4권3호
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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.

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6자유도를 갖는 정밀 위치제어용 병렬 매니퓰레이터의 기구학 해석 (Kinematic analysis of a 6-degree-of-freedom micro-positioning parallel manipulator)

  • 박주연;심재홍;권동수
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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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.

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극 저주파 범위에서의 인체 머리부 6자유도 진동 측정 및 추정시의 문제점에 대한 연구 (Study on Some Problems in the Measurement and Estimation of 6 Degree of Freedom Head Vibration in Very Low Frequency Range)

  • 이정훈;고홍석;김광준;장한기
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2002년도 춘계학술대회논문집
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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.

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A Three-Degree-of-Freedom Anthropomorphic Oculomotor Simulator

  • Bang Young-Bong;Paik Jamie K.;Shin Bu-Hyun;Lee Choong-Kil
    • International Journal of Control, Automation, and Systems
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    • 제4권2호
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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.

단일 진동체의 진동 흡진기 설계 기법 (Design of a Vibration Absorber for an Elastically Suspended Rigid Body)

  • 김동욱;최용제
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2002년도 추계학술대회논문집
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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.

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가변 흡기시스템에 의한 디젤기관의 체적효율 향상에 관한 연구 (A Study on the Amelioration of Volumetric Efficiency by Variable Induction System in a Diesel Engine)

  • 강희영
    • 동력기계공학회지
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    • 제10권1호
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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.

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단자유도계를 이용한 충격흡수시설의 설계법 개발 (Study on the Design Method Development of Crash Cushion Using Single Degree of Freedom)

  • 주재웅;금기정;장대영;손승녀
    • 한국도로학회논문집
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    • 제9권3호
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    • pp.91-100
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    • 2007
  • 도로를 이용하는 운전자들의 안전을 위해서 없어서는 안될 차량방호안전시설이 충격 흡수시설이다. 그러나 충격 흡수시설의 합리적이고 현실적인 설계방법이 미비한 상태임으로 대안없이 충돌시험에만 의존하고 있고 이것으로 인해 시간적, 물리적 손실이 큰 실정이다. 본 연구에서는 실차 충돌시험 데이터를 이용하여 삼차원의 복잡한 충돌거동에 대해 탑승자의 안전을 고려한 단자유도계 적용의 적합성을 증명하고 충격흡수시설의 거동을 분석함으로써 효과적인 단자유도계 충격흡수시설 설계법을 개발하고자 했다. 그리하여 단자유도계를 이용한 충돌해석 모델을 정립하고 충격흡수시설 설계법을 제시하였다. 충격흡수시설 설계법의 유효성을 검증하기 위해 단자유도계 설계법으로 CC2등급 충격흡수시설을 설계 제작하여 실차 충돌시험을 실시하였다. 성능시험 결과 매우 만족스러운 결과가 도출되었고 이로써 단자유도계 충격흡수시설 설계법은 충격흡수시설을 설계하는데 있어 유용한 방법중의 하나임이 증명되었다.

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자유도의 교수학적 분석 (A Didactical Analysis on the Degree of Freedom)

  • 김창일;전영주
    • 한국학교수학회논문집
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    • 제23권3호
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    • pp.239-257
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    • 2020
  • 본 연구는 자유도에 대한 교수학적 논의를 통해 통계 교육과정과 학교수학에서의 통계 교육에 도움을 주고자 함이다. 이를 위해 학문적 지식으로의 자유도, 교과서를 중심으로 한 교육과정에서의 자유도, 그리고 자유도에 대한 학생들 이해 정도를 분석하였다. 그 결과 첫째, 자유도를 교육과정에 포함시킬 것인가에 대한 논의가 요구된다. 둘째, 현행 교과서 설명 방식에 대한 재고가 필요하다. 셋째, 자유도 개념 이해를 돕기 위한 교수학적 분석이 있어야 한다. 넷째, 현행 교과서 학습 환경은 자유도 개념 학습에 한계가 있는 것으로 나타났다. 다섯째, 표본평균, 표본분산, 표본표준편차 등 표집분포에 대한 교수학적 점검이 요구된다. 그리고 교육과정에서의 추론 통계 교육의 강조와 t분포의 교육과정 도입에 대한 신중한 고려가 요구된다는 시사점을 도출하였다.

다자유도 구형 구동 모터의 와전류 손실 저감을 통한 효율 향상 연구 (Improve of Efficiency of Multi D.O.F Spherical Motor Through the Reduction of Eddy Current Loss)

  • 홍경표;김용;장익상;이호준;강동우;원성홍;이주
    • 전기학회논문지
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    • 제61권1호
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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.

3차원 골조구조물의 효율적인 연직진동해석 (Efficient Analysis Models for Vertical Vibration of Space Framed Structures)

  • 안상경;홍성일;이동근
    • 한국전산구조공학회:학술대회논문집
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    • 한국전산구조공학회 1996년도 가을 학술발표회 논문집
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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.

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