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Multibody Dynamics of Closed, Open, and Switching Loop Mechanical Systems
Youngil Youm 대한기계학회 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.1S
The vast mechanical systems could be classified as closed loop system, open loop system and open & closed (switching) system in the closed loop system, the kinematics and dynamics of 3-D mechanisms will be reviewed and closed form solutions using the direction cosine matrix method and reflection transformation method will be introduced In the open loop system, kinematic & dynamic analysis methods regarding the redundant system Which has more degrees of freedom tn Joint space than those of task space are reviewed and discussed Finally, switching system which changes Its phase between closed and open loop motion is investigated With the principle of dynamical balance Among switching systems, the human gait in biomechanics and humanoid In robotics are presented<br/>
염영일(Youngil Youm) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.3
This is the survey paper on the role of kinematics in robot development. The robot is considered as a form of mechanical systems which includes closed-chain loop system, open-chain loop system and closed and open switching system. To analyze these systems, kinematic notations has been developed in kinematics of mechanical theory since 1955 and has been applied in robotics. Several kinematic notations including Denavit-Hartenberg notations have been reviewed. The status of development of the spherical motor which has a great impact on the future robot advancement has reviewed, and research activity on a spherical motor and its application to 3-D spatial mechanisms at UNIST is introduced. For the open and closed switching mechanical systems, the bipedal robots" walking theories using Zero Moment Point are reviewed. And current status regarding bipedal robots based on newly developed passive dynamic walking theory is reviewed with the research activity at UNIST on this subject.