公开(公告)号：KR1020050022756A

公开(公告)日：2005-03-08

申请号：KR1020030060456

申请日：2003-08-27

Applicant: 대한민국(창원대학교)

Inventor： 이민기

IPC: B23Q23/00

Abstract: PURPOSE: A parallel-type machining tool for machining composite shapes is provided to execute correction work by regulating freely the height of a constrained plane and examining observability of a constrained movement by one or three digital indicators and one constrained surface and to search an optimal correction shape for maximizing independence of a line vector by using QR-decomposition. CONSTITUTION: In a parallel-type machining tool for machining composite shapes, observability is examined according to constrained movement and an optimal correction shape is discovered. A non-observable variable is estimated and the coordinate system is found out. Plane constraining movement uses one or three digital indicators and one constrained plane. The optimal correction shape maximizes independence of a line vector by QR-decomposing an observation matrix. The number of observable variables is provided from a rank of the observation matrix. A value for indicating independence of the line vector is defined and minimized to examine observability according to a constraint variable.

Abstract translation: 目的：提供一种用于加工复合形状的并行型加工工具，通过自由调节约束平面的高度并通过一个或三个数字指示器和一个约束表面检查约束运动的可观察性来执行校正工作，并搜索最佳校正 通过使用QR分解来最大化线向量的独立性的形状。 构成：在用于加工复合形状的平行加工机床中，根据受限的运动检查可观察性，并发现最佳校正形状。 估计一个不可观察的变量，并发现坐标系。 平面约束运动使用一个或三个数字指示器和一个约束平面。 最佳校正形状通过QR分解观察矩阵使线矢量的独立性最大化。 可观测变量的数量由观察矩阵的等级提供。 定义和最小化用于指示线向量的独立性的值，以根据约束变量来检查可观察性。

公开(公告)号：KR1020020016317A

公开(公告)日：2002-03-04

申请号：KR1020000049581

申请日：2000-08-25

Applicant: 대한민국(창원대학교) ,  이민기

Inventor： 이민기

IPC: B25J17/00

Abstract: PURPOSE: A parallel manipulator of an intelligence type machine tool is provided to increase the strength of the parallel manipulator while maintaining a large working space by installing six universal joints on ends of six linear actuators at a predetermined angle. CONSTITUTION: A parallel manipulator of an intelligence type machine tool comprises a base(10) on which the workpiece is placed. Six ball socket joints(20) are installed at a bottom of the base(10). Six linear actuators(30) are coupled to lower portions of six ball socket joints(20). Six universal joints(40) are connected to the other ends of six linear actuators(30), respectively, at a predetermined angle. A platform(60) is provided at a lower portion thereof with a tool(50).

Abstract translation: 目的：提供智能型机床的并联机械手，通过在六个线性致动器的端部上以预定角度安装六个万向接头，同时保持较大的工作空间，增加并联机械手的强度。 构成：智能型机床的并联机械手包括其上放置工件的基座（10）。 六个球窝接头（20）安装在基座（10）的底部。 六个线性致动器（30）联接到六个球窝接头（20）的下部。 六个万向节（40）分别以预定角度连接到六个线性致动器（30）的另一端。 平台（60）在其下部设置有工具（50）。