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이찬(Chan Lee),이재원(Jeh Won Lee),서태원(Tae Won Seo) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.1
The kinematics with the instantaneous motion and statics of a manipulator has generally been proven algebraically. The algebraic solutions give very simple and straightforward results but the solutions do not have any meaning in physics or geometry. approach to define the instantaneous motion or static relation of a manipulator is popularly researched and the results have very strong advantages to have a physical insight in the solution, In this paper, the instantaneous motion and static relation of a planar manipulator are described by geometrical approach, specifically by an axis screw and a line screw. The mass center of a triangle with weight and a perpendicular distance between the two screws are useful geometric measures for geometric analysis. This study provides a geometric interpretation of the kinematics and statics of a planar manipulator, and the method can be applied to design or control procedure from the geometric information in the equations.
스크류 이론을 이용한 평면형 병렬로봇의 자코비안 및 특이점 해석
최정현(Jung Hyun Choi),이재원(Jeh Won Lee),이혁진(Hyuk Jin Lee) 대한기계학회 2012 大韓機械學會論文集A Vol.36 No.11
병렬로봇의 구동을 계산하기 위해서 자코비안과 특이점 해석이 필요하다. 기존의 자코비안을 구하는 미분의 방식은 그 계산과정이 복잡하고 기하학적인 의미도 찾기 어렵다. 본 논문에서는 스크류 이론을 사용하여 병렬로봇의 자코비안을 쉽게 구하고 그것의 기하학적인 의미도 구하였다. 뿐만 아니라 특이점도 간단한 형태로 식을 구성할 수 있으며 기하학적인 의미도 가진다. 또한, 스크류 이론의 적용이 5 링크와 같이 간단한 형태의 비 여유구동 로봇뿐만 아니라 다양한 형태의 평면형 여유구동 병렬로봇에도 적용 가능하다는 것을 본 논문에서 제시하였다. The Jacobian and singularity analysis of parallel robots is necessary to analyze robot motion. The derivations of the Jacobian matrix and singularity configuration are complicated and have no geometrical earning in the velocity form of the Jacobian matrix. In this study, the screw theory is used to derive the Jacobian of parallel robots. The statics form of the Jacobian has a geometrical meaning. In addition, singularity analysis can be performed by using the geometrical values. Furthermore, this study shows that the screw theory is applicable to redundantly actuated robots as well as non-redundant robots.
Servo 구동 장력 조절 장치 최적화 설계에 관한 연구
이상화,정혜천,이혁진,이재원,전두환,Lee, Sang-Hwa,Jeong, Hye-Cheun,Lee, Huck-Jin,Lee, Jeh-Won,Chun, Du-Hwan 한국섬유공학회 2008 한국섬유공학회지 Vol.45 No.3
Tension control of fiber manufacturing process system is usually achieved by using loadcell and powder clutch, which require additional mounting space, reduce the reliability in harsh environments and increase the cost of the system. The physical properties of textile fabrics are very sensitive to several factors(temperature, humidity, radius change of warp beam etc.)which result in tension change. In this paper, the optimal tension control of servo motor driver system using PI control algorithm is presented. The proposed tension algorithm is robust to disturbance and tension variation. First the modeling and dynamic behaviors of the tension system is described. Then validity and usefulness of the proposed algorithm and mechanical system are thoroughly verified through numerical simulation and actual conditions.
4-RRR Parallel Manipulator의 기구적 해석 및 제어
홍민석(Min Seok Hong),이재원(Jeh Won Lee) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
It is well known that parallel manipulator has various advantages compared with serial manipulator. Nevertheless, parallel manipulator has some problems in occurring of the singularity not in special position and the narrowness of work space. In parallel manipulator, singularity shows that singularity loci has a big difference according to link shapes, link joint position and so on. It is hard to analysis in 3RRR parallel manipulator and the efficiency of work space are lower than the other manipulator 'because non-linear singularity loci is. happened by the existence of moving plate. 4RRR parallel manipulator being applied from redundant actuation system can, however, predict the singularity loci varying with linear according to the rotation angle of moving plate. It is able to design a mechanism that is analysed in singularity section and does not happen any singularity at least. Therefore the manufactured 4RRR parallel manipulator can be controled to avoid singularity loci.
지능형 능동 가속 페달의 원통형 선형 액추에이터 설계 및 해석
이재용(Jae-Yong Lee),김진호(Jin-Ho Kim),이재원(Jeh-Won Lee),이정훈(Jung-Hun Lee),한승철(Seung-Chul Han) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper has described a design and analysis of a tubular linear actuator for intelligent AAP(Active Accelerate Pedal) system. In AAP system, an electromagnetic actuator occurs the thrust force as a warning of accident in order to release driver's foot on the accelerate pedal. At emergency situation during driving, the electromagnetic actuator creates the additional pedal force such as active pedal force and vibration force. On passive situation, the actuator doesn't make the additional force. The AAP system with rotary actuator has the critical drawback such inaccurate movement generated by backlash and torque due to high gear ratio. This research, therfore, proposes the electromagnetic tubular actuator AAP system to overcome inherent drawback of rotary actuaotor AAP system and maximize the safety of cars. Electromagnetic finite element analysis is executed to analyze and design the tubular actuator and dynamic analysis is done to characterize dynamic performance of AAP system with designed tubular actuator according to two types of thrust force.
리니어 펌프 구동용 하이브리드 전자기 리니어 액추에이터 해석 및 설계
이정훈(Jung-Hun Lee),김진호(Jin-Ho Kim),이재원(Jeh-Won Lee),이재용(Jae-Yong Lee),정상현(Sang-Hyun Jeong),한방우(Bang-Woo Han) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
The purpose of this paper is to analyze and design a new hybrid electromagnetic linear actuator for linear pump. Solenoid linear actuator is widely used because it occupies small space due to no mechanical energy conversion system. In addition, the energy loss is very low and it hasn't noise. Conventional solenoid linear actuator, however, has the critical drawback of high power consumption. In this research, we present a new hybrid electromagnetic linear actuator using a permanent magnet in order to reduce power consumption. The enhanced performance of hybrid linear actuator was verified by dynamic finite element analysis.
환경전과정평가 및 폐차처리지침에 관한 6 축 로봇 활용성 연구
윤순섭(Sun Seop Yun),이재원(Jeh Won Lee) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
This study is that 6-axis Robot Application on LCA and ELV. We must thinking about environment and future of earth. But, we do not practice well that disposal of waste matter. Example, we can't properly when dispose of junk a car. So we throw away usable many resources. Many advanced country have grapple with problem of air pollution. The solution method is technology. ELV is international environmental law of the made in EU about End of Life Vehicle. We must 85% recycling and 95% Recovery since 2015. This study suggests one of the methods about disposal of junk a car.