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이세정,Lee, S. J. 대한기계학회 1994 대한기계학회논문집 Vol.18 No.9
A method to evaluate the position performance for a stochastically defined planar robot manipulator is presented. Performance is defined as the operational reliability based upon the positional errors of the manipulator tip. An analytical method is developed and applied to a two-link robot manipulator through forward kinematics. This study includes uncertainties in the link length, pin center location and radial clearance. By virtue of the effective link length model, only the nominal manipulator model and statistical information on the uncertainties are required. The results from the analytical method is compared to those from the Monte Carlo simulation.
윤활특성을 고려한 사절경로 발생기구의 기계적 오차해석 및 공차설계
최진호,이세정,최동훈,Choi, Jin-Ho,Lee, S.J,Choi, Dong-Hoon 대한기계학회 1997 大韓機械學會論文集A Vol.21 No.2
This paper addresses an analytical approach to the mechanical error analysis and tolerance design of a four-bar path generator with lubricated joints. The mobility method is applied to consider lubrication effects and the four-bar path generator is stochastically modeled by using the clearance vector model for methanical error analysis. To show the validity of the proposed method, the mechanical errors obtained by applying the method to a four-bar path generator are compared with those by Monte Carlo simulation. Based on this analytical method, an optimal tolerance design problem is formulated and solved for the four-bar path generator.
이세정 서울市立大學校 1993 論文集 Vol.27 No.-
Tolerances play a important role in design of mechanical systems. When mechanical parts are processed tolerances are created or engineers designate appropriate tolerances for the purpose of functioning properly. Tolerances result in uncertainty of the system. This study deals with planar closed-loop mechanisms and develops an analytical method to determine mechanical errors in terms of means and variances. The method statistically considers tolerances in link lengths, tolerances in radial clearances and random pin location in pin joints. In mechanical systems, since tolerances are small compared with dimensions of the parts, application of linear approximation for the variances determines the mean and the variance of the output variable. This study utilizes the effective link length model to model a slider-crank mechanism and the result from analytical method is compared with the result from the Monte Carlo simulation for validation.