1. 제 목 : Kinematic Design and Calibration of Parallel Mechanisms





2. 연 사 : Prof. Yukio Takeda.


Department of Mechanical Sciences and Engineering,


Tokyo Institute of Technology





3. 일 시 : 2002년 10월 14일 (월) 오후 1시 - 2시





4. 장 소 : 정밀기계설계공동연구소 세미나실





5. 내 용 :


In order to obtain a parallel mechanism with a large "practical" working space, we have developed a kinematic synthesis method and a kinematic calibration method. The synthesis method is composed of (1) the transmission index, (2) singularity analysis, (3) optimization based on the Monte-Carlo technique. As a calibration method, we have proposed a method using a Fourier series. In the talk, these ideas are introduced with some results of simulations and experiments applied to planar, spherical and spatial parallel mechanisms including wire-driven mechanisms. Some experimental machines such as a machine tool and fine-coarse positioning machine


that we developed will be also introduced.





6. 약 력 :


1989.03. Master of Engineering, Tokyo Institute of Technology


1989.04. Research Associate, Department of Mechanical Engineering, Tokyo


Institute of Technology


1995.12. Doctor of Engineering, Tokyo Institute of Technology


1996.08. Associate Professor, Department of Mechanical Sciences and Engineering,


Tokyo Institute of Technology


Main research area is kinematics and machine elements, especially for parallel mechanisms.





7. 문 의 : 기계항공공학부 김종원 교수 (☏ 880-7138)


서울대 BK21 기계분야사업단 행정실 (☏ 880-7132)