This paper presents using Newton-Raphson method calibration for planar cable robot. In cable robot there are three big error issue which are geometric error and and modeling error and non-geometric error, in this paper we just focus on first two issue. Using MATLAB simulation we found minimum of 8 pose we have to use in calibration equation and the initial vale can decrease of the iteration.

The purpose of this study is to find out the plan type of traditional folk housing in Jeoun-Nam Province. The building time of these houses is mainly from early 19C to early 20C and about 1,000 houses have been investigated. The conclusion of this research is 1. Small house is composed of kitchen, one or two rooms and Marae(the place of storage and sacrificial rite). Big house has one more room and one more storage in comparison with the small house. Marae and Jeoungjibang(a room which is in front of kitchen) are characteristic rooms of folk house in Jeoun-Nam Province. 2. The plan type varies in Jeoun-Nam Province. '-'type is a main type of layout and it is arranged a kitchen, a big room, a Marae and a small room in order. In the big house, jeoungjibang(the third room) is added. 3. In the southwestern Island area, no room is arranged beside Marae. Marae has characteristic confucian order because it is the place of sacrificial rite. Therefore there is a great difference in comparison with other area. 4. In the mountain area such as Gurae, there are some houses which have two rooms arranged up and down in one side; that is, upside is Marae and downside is small room. This type is called Kyump Jip.

코어 위치변화에 따른 횡력저항성능 분석을 위하여, 대칭 평면형 20층 건물을 대상으로 3차원 구조해석을 수행하였다. 중심 코어, 1축 편심 코어, 2축 편심 코어로 구분하여 4가지 해석모델을 구성하고, 고유치해석, 풍하중 해석, 지진하중 해석을 수행하였다. 중심 코어 건물 에서는 비틀림이 발생하지 않았으나, 편심 코어의 배치에 따라 휨과 비틀림이 복합적으로 발생하였으며 횡력저항성능이 저하되었다. 코어의 편심 배치에 따른 풍하중 크기의 변화는 작으나, 최대 횡변위는 코어의 편심 배치에 의하여 크게 증가하는 것으로 확인되었다. 또한, 편심 코어의 경우 횡방향 강성의 저하로 인하여 중심 코어에 비해 지진하중이 다소 감소하였으나, 비틀림의 영향으로 최대 층간변위비는 크게 증가하는 것으로 확인되었다. 이러한 결과들을 바탕으로 코어의 위치에 따른 구조거동을 확인하고, 계획 및 설계 단계에서 코어 배치의 가이드라인으로 활용할 수 있다.

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

This paper focuses on the vibration analysis of planar cable–driven parallel robots on their configurations. Despite of many advantages of the cable robots, elasticity of the cables may cause the vibration at the existence of external disturbance, resulting in deterioration of positioning accuracy. According to the vibration theory, having high first order natural frequency can prevent resonance with low frequency disturbance from the surrounding environment. A series of simulations showed that choosing frame / end-effector shape and cable connection method affects robots’ natural frequency. For the precise simulation, the cables are modeled as linear springs and axial vibration of cables is mainly considered. Aspect ratios of the frame and end-effector are defined as non-dimensional parameters while their areas are fixed. It was shown that vibration analysis guides to design a planar cable robot in terms of high capacity to reduce vibration.

This work deals with an intuitive method for a planar biped to walk, which is named Relative Trajectory Control (RTC) method. A key feature of the proposed RTC method is that feet of the robot are controlled to track a given trajectory, which is specially designed relative to the base body of the robot. The trajectory of feet is presumed from analysis of the walking motion of a human being. A simple method to maintain a stable posture while the robot is walking is also introduced in RTC method. In this work, the biped is modeled as a free-floating robot, of which dynamic model is obtained in the Cartesian space. Using the obtained dynamic model, the robot is controlled by a model-based feedback control scheme. The author shows a preliminary experimental result to verify that the biped robot with RTC method can walk on the even or uneven surfaces.