Earticle

이 연구는 교무분장 과정에서 교사의 능력뿐만 아니라 업무 선호를 고려하는 것이 중요하다는 전제하에, 단위학교 내 업무 선호의 양상과 선호 차원 및 예측요인을 실증적으로 탐색하는 데 목적이 있다. 서울교원종단연구 2020의 5차년도(2025년) 데이터를 활용하였으며, 업무 선호의 2차원 유형화 분석 모형을 설정한 후 탐색적 요인분석 및 다중회귀분석 등을 수행하였다. 먼저, 단위학교 내 업무에 대한 선호는 이질적인 것으로 나타났다. 학교급에 따라 전반적으로 선호도가 높은 업무 일지라도 교사 개인 간 선호의 편차가 존재하며, 기피 업무에 대해서도 일부는 선호를 보이는 것으로 확인되었다. 다음으로, 단위학교 내 업무에 대한 선호는 교사 특성에 따라 차이가 있다. 학교급별로 29개 업무를 소수의 선호 차원으로 요약한 결과, 전반적으로 “교무 및 학사 행정”과 “학생 활동 및 생활 지원”의 2개 차원으로 업무 선호를 인식하는 것으로 확인되었다. 이후 업무 선호 차원에 대한 예측요인 분석 결과는 비교적 학교급별로 유사한 패턴이 관찰되었다. 교무 및 학사 행정 차원의 업무 선호는 교육연한, 전입 여부와 과목, 학생 활동 및 생활 지원 차원의 업무 선호는 교직경력, 성별과 과목이 주요 예측요인으로 확인되었다. 마지막으로, 교무분장 과정에서 평균적인 선호를 넘어 개인별 선호의 이질성을 고려할 필요가 있으며, 교사의 능력과 선호를 함께 반영할 수 있는 교무분장 운영 방향을 제언하였다.

This study aims to empirically explore the patterns, dimensions, and predictive factors of task preferences within individual schools, based on the premise that considering teachers' preferences alongside their abilities is crucial in the process of assigning school tasks. It utilizes data from the 5th wave (2025) of the Seoul Educational Longitudinal Study of Teacher 2020. After establishing a two-dimensional typology framework for task preferences, exploratory factor analysis and multiple regression analysis were conducted. First, preferences for tasks within schools were found to be heterogeneous. Even for tasks generally preferred across school levels, significant variation in preferences existed among individual teachers. Furthermore, some teachers exhibited preferences for tasks that were otherwise avoided. Second, preferences for tasks within schools differed based on teacher characteristics. After reducing and categorizing preferences for 29 tasks by school level, preferences were generally recognized as two dimensions: “Academic Affairs and Administrative Support” and “Student Activities and Life Support.” Third, subsequent analysis of predictive factors for task preference dimensions showed relatively similar patterns across school levels. For task preferences in the “Academic Affairs and Administrative Support”, educational attainment, transfer status, and subjects were identified as key predictors. For preferences in the “Student Activities and Life Support”, years of teaching, gender, and subjects were the main predictors. Finally, it was suggested that the process of assigning school tasks requires attention to individual preferences beyond average tendencies. There is a need to consider directions for assigning school tasks that appropriately account for both teachers' abilities and preferences, including preference heterogeneity.

With the rapid growth of genomic data, new requirements have emerged that are difficult to handle with big data storage and analysis techniques. Regardless of the size of an organization performing genomic data analysis, it is becoming increasingly difficult for an institution to build a computing environment for storing and analyzing genomic data. Recently, cloud computing has emerged as a computing environment that meets these new requirements. In this paper, we analyze and compare existing distributed and parallel NGS (Next Generation Sequencing) analysis based on cloud computing environment for future research.

A large-scale analysis to evaluate complex material and structural behaviors is one of interesting topic in diverse engineering and scientific fields. Also, the utilization of massively parallel processors has been a recent trend of high performance computing. The objective of this paper is to introduce a parallel process system which consists of general purpose finite element analysis solver as well as parallelized PC cluster. The later was constructed using eight processing elements and the former was developed adopting both hierarchical domain decomposition method and balancing domain decomposition method. Then, to verify the efficiency of the established system, it was applied for structural analysis of steam generator in nuclear power plant. Since the prototypal evaluation results agreed well to the corresponding reference solutions it is believed that, after reinforcement of PC cluster by increasing number of processing elements, the promising parallel process system can be utilized as a useful tool for advanced structural integrity evaluation.

In this study we investigated ac transport current losses in the face to face stack for the anti-parallel current flow, and compared the electromagnetic properties with those of the single SC tape as well as those of the same stack for the parallel current path. The gap between the SC tapes in the stack varied in order to verify the electromagnetic influence of the neighbors when current flows in opposite direction, and the model was implemented in the finite element method program by the commercial software, COMSOL Multiphysics 4.2a. Conclusively speaking, the loss was remarkably decreased for the anti-parallel current case, which is attributed the magnetic flux compensation between the SC layers due to the opposite direction of the current flows. As the gap between SC tapes was increased, the loss mitigation became less effective. Besides, the current density distribution is very flat cross the sample width for the narrower gap case, which is believed to be benefit for the power electric system. These results are all in good agreement with those predicted theoretically for an infinite bifilar stack.

This study explores the parallel and serial relations among linguistic categories and their cognitive interface patterns. By analyzing the proximity between categories as well as serial and parallel propositions, the research reveals the interface mechanisms between different cognitive domains. It finds that categories within the same cognitive domain form complex networks through cross-connections, while metaphorical and metonymic interfaces extend the semantic boundaries of categories. The innovation of this study lies in proposing the concept of the “interface domain,” deepening the understanding of the mechanisms behind linguistic categorization and revealing category relations across multiple languages. Furthermore, the study identifies two primary types of interface relations: metaphorical and metonymic, highlighting their distinct roles in category formation and cross-domain mappings. Through an analysis of the Chinese character “大”(big), the research illustrates how categories interface across dimesions such as space, intensity, status, and degree. It also compares these patterns with English equivalents, revealing significant cultural and cognitive differences in categorization paths.

평행분석은 표본 자료의 고윳값과 무선 자료의 고윳값을 비교하여 요인의 개수를 추정하는 방법이다. 이 방법은 고윳값에 근거하여 요인의 개수를 추정하는 다른 절차들(카이저 방법, 스크리 검사)보다 이론적으로 더 타당한 근거를 갖고 있고 경험적으로도 요인의 개수를 더 정확히 추정하는 것으로 평가 받는다. 그러나 평행분석의 이론적 근거의 타당성에 대해서도 여러 비판이 제기되어 왔고 이에 따른 다양한 수정 절차들도 제안되었다. 또한 평행분석이 상대적으로 낮은 정확성을 나타내는 조건들에 대한 우려도 있어 왔다. 본 연구는 고윳값과 평행분석이 요인의 개수를 추정하는 데 사용될 수 있는 이론적 근거와 한계를 검토하고 이를 바탕으로 평행분석의 정확성이 낮게 나타날 수 있는 조건들을 구체화하였다. 또한 모의실험을 통해 평행분석의 정확성에 영향을 줄 수 있는 다양한 요인들의 효과를 검토하고 평행분석의 사용에 주의를 요하는 조건들을 확인하였다. 모의실험의 결과는 평행분석의 요인수 추정 정확률이 요인상관의 크기, 요인부하량의 크기, 요인의 개수, 요인당 변수의 개수에 따라 크게 영향을 받으며 정확률이 낮은 조건에서 표본크기의 영향이 매우 크다는 것을 보였다. 또한 요인부하량이 낮은 변수들로 구성된 약한 요인이 포함된 경우 요인수 추정의 정확률이 크게 낮아짐을 확인하였다. 전반적으로 상관행렬에 대한 평행분석(PA-PCA)보다 축소상관행렬에 대한 평행분석(PA-PAF)의 정확률이 높았으며 특히 요인상관이 높은 경우에는 PA-PAF가, 요인상관이 낮은 경우에는 PA-PCA가 높은 정확률을 보이는 경향이 확인되었다. 마지막으로 모의실험의 결과를 기초로 요인상관의 크기, 요인부하량의 크기, 요인의 개수의 조합으로 구성되는 다양한 조건에서 평행분석이 90% 이상의 정확률을 제공하기 위해 요구되는 표본크기를 제안하였다.

Parallel analysis is a method of estimating the number of factors by comparing the eigenvalues ??of sample data with the eigenvalues ??of random data. This method is considered to be theoretically more valid and empirically more accurate in estimating the number of factors than other methods, such as Kaiser method and scree test, that estimate the number of factors based on the eigenvalues. However, several criticisms have been raised about the validity of the rationale for parallel analysis and various modifications have been proposed. There have also been concerns about the conditions under which parallel analysis shows relatively low accuracy. The current study examined the rationale and limitations of the use of eigenvalues ??and parallel analysis to estimate the number of factors, and based on this, we specified the conditions under which the accuracy of parallel analysis may be low. We also examined, through a simulation, the effects of various factors that may affect the accuracy of parallel analysis and confirmed the conditions where cautions are needed when applying parallel analysis. The results of the simulation show that the accuracy of estimating the number of factors in the parallel analysis is greatly influenced by the size of factor correlations, the magnitude of factor loadings, the number of factors, and the number of variables per factor. In addition, we confirmed that the accuracy of the parallel analysis is significantly lower when a factor model includes a weak factor with low factor loadings. Overall, the accuracy of the parallel analysis for the reduced correlation matrix (PA-PAF) was higher than the parallel analysis for the correlation matrix (PA-PCA), which in particular, PA-PAF showed high accuracy when factor correlations were high, and PA-PCA showed high accuracy when factor correlations were low. Based on the results of the simulation analyses, we proposed sample sizes required for parallel analysis to provide accuracy of 90% or higher under conditions with different levels of factor correlation, factor loading, and the number of factors.

In this study, performs analysis of the life of parallel opening type pneumatic chucks that are usually applied in the factory automation line. Pneumatic chucks have complicated failure cause because they are organized as a complex of various elements. Therefore, we analyzed the main failure mode of pneumatic chuck, and then performed life test and performance test according to the international standards. On the basis of these processes, shape parameter of pneumatic chuk is proposed that is the main factor for the calculation of zero failure test time for the reliability of pneumatic chuck and their data analysis of life distribution.

현재 병렬 데이타베이스 컴퓨터가 광범위하고 성공적으로 활용되고 있다. 이의 구조로는 주기억 장치와 디스크를 공유하지 않는 구조, 두가지를 모두 공유하는 구조, 디스크만을 공유하는 구조, 그리고 절충형 구조 등의 네가지 구조가 있다. 이 논문에서는 데이타베이스 컴퓨터 구조의 성능을 비교 분석하기 위하여 데이타베이스 컴퓨터 구조를 추상적인 모형으로 정의하고, 각각의 모형에 대하여 절충형 해쉬 조인 연산의 수행시간을 수식화한 성능식을 구하여 여러 가지 데이타베이스 컴퓨터 구조 모형의 수행시간을 비교 분석한다.

The parallel database machine approach is currently widely and successfully used. There are four major architectures which are used in this approach: shared-nothing architecture, shared-evertying architecture, shared-disk architecture, and hybrid architecture. In this paper, we use an analytical model to evaluate the performance of these database machine architectures. We define an abstract model for each type of database machine design to obtain performance equatons describing the execution times with respect to the hybrid hash join poeration. Using the performance equations, we evaluate the execution times of the various database machine design models.

최근 빅데이터 이슈가 화두가 됨에 따라 대학, 산업체, 연구소 등에서는 다양한 데이터들을 수집, 분석 하려는 노력이 활성화 되고 있다. 여기에는 과거부터 축적된 데이터, 현재에 바로 분석이 불가능하더라도 잠재적인 의미를 가지고 있는 데이터 등 대량의 데이터들이 수집되어 의미론적인 분석을 통해 가치 있는 분석결과를 얻게 된다. 이를 위해 전 세계적으로 대용량의 데이터 요구를 처리 할 수 있는 고성능 스토리지 시스템의 수요가 증가하고 있다. 또한, 여러 사용자들에게 축적된 대량의 데이터에 동시에 접속하여 다양한 분석을 수행할 수 있도록 안정성 있는 병렬 분산파일시스템을 제공해야 한다. 본 연구에서는 위와 같이 안정성 있는 파일시스템을 제공하기 위해 반드시 고려되어야 할 스토리지 시스템의 I/O 대역폭, 메타데이터의 성능 등을 파악하고 최적의 환경을 구성하기 위한 방법을 제시하고자 한다.

Recently, Big Data issue has become a buzzword and universities, industries and research institutes have been efforts to collect, analyze various data enabled. These things includes accumulated data from the past, even if it is not possible to analysis at this present immediately a which has the potential means. And we are obtained a valuable result from the collected a large amount of data via the semantic analysis. The demand for high-performance storage system that can handle large amounts of data required is increasing around the world. In addition, it must provide a distributed parallel file system that stability to multiple users too perform a variety of analyzes at the same time by connecting a large amount of the accumulated data In this study, we identify the I/O bandwidth of the storage system to be considered, and performance of the metadata in order to provide a file system in stability and propose a method for configuring the optimal environment.

This paper presents a geometrical approach to the characteristic analysis of parallel mechanism with free joints intended for use as a planar task robot. Solution of the forward and inverse kinematic problems are described. Because the mechanism has only three degree-of-freedom output, constraint equations must be generated to describe the inter-relationship between actuated joints and free joints so as to describe the position and orientation of the moving platform. Once these constraints are incorporated into the kinematics model, a constrained Jacobian matrix is obtained. and it is used for the solution of the forward kinematic equations by Newton-Raphson technique. Another Jacobian matrix was derived to describe the interrelationship between actuated joints and moving platform. The stiffness, velocity transmission ratio, force transmission ratio and dexterity of the mechanism are then determined based on this another Jacobian matrix. The geometrical construction of the mechanism for the best performance was investigated using the characteristic analysis.

일반적으로 GPU 기반 트리 탐색을 수행할 경우 병렬 처리 속도가 생각보다 크게 향상되지 않는 경우가 대부분이다. 본 논문에서는 이러한 원인을 분석하고 그 분석 결과로 GPU 병렬 처리 하드웨어 아키텍처 내 최소 물리적 스레드 실행 단위인 warp 내에서 분기문(if문)으로 인한 warp divergence가 일어나기 때문임을 제시한다. 또한 이러한 warp divergence를 최소화할 수 있는 병렬 shifted sort 알고리즘과의 비교를 통해 shifted sort 알고리즘이 일반적인 GPU 내 트리 탐색에 비해 우수한 성능을 보이는 구조임을 제시하였다. 분석 결과 GPU 기반 kd-tree 탐색에 비해 warp divergence가 발생하지 않은 shifted sort 탐색은 3차원 공간에서 데이터나 쿼리의 수가 $2^{23}$개 일 때 16배 이상의 빠른 처리 속도를 보였으며 이 성능 차이는 데이터나 쿼리의 개수가 증가함에 따라 더 커지는 경향을 보였다.

It is common to achieve lower performance in traversing tree data structures in GPU than one expects. In this paper, we analyze the reason of lower-than-expected performance in GPU tree traversal and present that the warp divergences is caused by the branch instructions ("if${\ldots}$ else") which appear commonly in tree traversal CUDA codes. Also, we compare the parallel shifted sort algorithm which can reduce the number of warp divergences with a kd-tree CUDA implementation to show that the shifted sort algorithm can work faster than the kd-tree CUDA implementation thanks to less warp divergences. As the analysis result, the shifted sort algorithm worked about 16-fold faster than the kd-tree CUDA implementation for $2^{23}$ query points and $2^{23}$ data points in $R^3$ space. The performance gaps tend to increase in proportion to the number of query points and data points.

In this paper, input-output transmission characteristics of the Eclipse, which is a parallel machine tool capable of 5 face rapid machining, are investigated. By splitting the weighted Jacobian matrix into two parts, the force and moment transmission characteristics together with the velocity and angular velocity transmission characteristics are analyzed. A new manipulability measure, which combines the volume of the manipulability ellipsoid and the condition number of the splitted Jcobian matrix, is proposed. Two link parameters, the ratio of upper and lower platforms' radii and the length of a supporting link of the Eclipse, are designed by applying the new manipulability measure derived. Computer simulations are provided.

본 연구에서는 유인기 회랑에 적용되는 충돌 위험 모델을 활용하여 UAM (Urban Air Mobility) 회랑의 충돌 위험을 분석하였다. K-UAM 로드맵과 운용개념서에 따르면 UAM은 기존 유인기 운항과 유사하게 지정된 항로를 비행하는 형태를 가지며 출발지와 도착지를 왕복하는 두 가지의 노선으로 운행될 것으로 예상된다. 국내 유인기 노선 중 김포공항-제주공항 간 유인기 운행이 이와 유사하며 두 개의 노선 간 횡 방향 분리간격을 가진 평행항로 형태를 띤다. 본 연구에서는 이와 유사한 형태의 UAM 회랑에 대해 유인기 평행 항로 충돌 위험 분석에 활용되는 충돌 위험 모델을 활용하여 횡 방향 분리간격에 따른 UAM 회랑의 충돌 위험을 분석하였다. 이를 바탕으로 최종적으로 K-UAM 실증 노선을 고려하여 한강 폭 내에 몇 개의 평행 항로가 설치될 수 있는지 분석하였다.

In this study, the collision risk of the UAM (Urban Air Mobility) corridor was analyzed using a collision risk model applied to the manned aircraft corridor. According to the K-UAM roadmap and operating concept, UAM is expected to fly on a designated route similar to existing manned aircraft operations and operate on two routes, traveling back and forth between the departure point and the destination point. Among domestic manned aircraft routes, the manned aircraft operation between Gimpo Airport and Jeju Airport is similar to this and takes the form of a parallel route with a lateral separation distance between the two routes. In this study, we analyzed the collision risk of the UAM corridor according to the lateral separation distance using a collision risk model used to analyze the collision risk of manned aircraft parallel routes for a similar type of UAM corridor. Based on this, we finally analyzed how many parallel routes could be installed within the width of the Han River, considering the K-UAM demonstration route.

본 연구에서는 DAMBRK 모형을 2002년 태풍 루사로 인해 붕괴된 남대천 유역의 장현저수지와 동막저수지에 적용하여 붕괴상황을 재현하였다. 두 저수지는 병렬로 위치하고 있으며, 이 두 저수지의 붕괴 모의를 위해 Relaxation 기법을 DAMBRK 모형에 추가하였다. 그리고 ASDSO (2005)에서 제안한 흙댐 붕괴지속시간과 첨두붕괴유량 산정을 위한 Froehlich 등의 경험공식을 활용한 저수지의 붕괴지속시간 추정 방법을 제안하였다. 제안 방법으로 선정된 붕괴지속시간으로 장현저수지 단일붕괴와 장현 및 동막저수지 연속붕괴에 대해 적용하여 붕괴유출 수문곡선을 계산하였다. 계산된 붕괴유량이 하류로 전파하면서 예상되는 홍수량 및 홍수위를 주요 하도지점에서 계산하고, 유량이 감쇠되는 특성을 해석하였다. 그리고 계산 홍수위와 현장 조사된 홍수위와의 비교를 통해 적용 모형의 매개변수 및 정확성을 검증하였다.

The DAMBRK is applied to Janghyeon and Dongmak reservoirs in Namdaecheon basin, where two reservoirs were failed due to Typhoon Rusa in 2002. Relaxation scheme is added to DAMBRK to consider the tributary cross-section because two reservoirs are in tributary valleys. In addition, this study suggests the method to utilize the reservoir breach formation time of ASDSO (2005) and empirical formulas for peak break outflow from dam to reduce the uncertainty of reservoir breach formulation time. The single break of Janghyeon reservoir and consecutive break of Janghyeon and Dongmak reservoirs with the suggested method are considered. While the breach discharge from reservoirs rushes down, the discharge and water surface elevation along the river are predicted, and the predictions show the attenuation phenomena of reservoir break floodwave. The applicability of the model is validated by comparing the predicted height with field surveyed data, and showing good agreements between predictions and measurements.

This paper presents how the input forces along the prismatic joints of a parallel manipulator are transmitted to the upper platform. In order to consider force transmission and moment transmission seperately the Jacobian matrix for parallel manipulators is splitted into two parts. Magnitudes of input forces on the six actuators at a given manipulator configuration which generate maximum/minimum output force with no moment generated on the platform are obtained through the singular value decomposition of a matrix involving the Jacobian. Similarly the directions of the input forces to obtain only the rotation of the platform have been analyzed. Using the singular values a simple equation for the volume of ellipsoid which is a good tool for manipulability measure is provided. Obtained results could be useful in determinimg design parameters like radius of plaform, angles between joints, etc. Simulations are porvided.

본 연구는 생성형 AI 확산으로 재편되는 학술정보 환경에서 Dimmick의 니치 이론과 이용과 충족 이론을 결합하여 ScienceON 이용자가 병행 사용하는 학술정보서비스의 충족 구조를 규명하였다. 분석 자료는 한국과학기술정보연구원(KISTI)의 2025년 ScienceON 활용 실태조사 서술형 응답 906건이다. 응답에 나타난 서비스를 공공 학술정보서비스, 비공공 학술정보 플랫폼, 생성형 AI 서비스의 세 유형으로 분류하고, 각 응답을 8개 충족 차원으로 코딩하였다(평균 Cohen의 κ = .91). 니치 폭·중첩·경쟁적 우위는 응답자 단위 군집 부트스트랩과 다중비교 보정으로 추정하였다. 세 유형 관계는 단일 경쟁축으로 환원되지 않고 중첩과 분화가 동시에 나타났다. 중첩도는 공공-비공공에서 가장 높고(O=0.753) 공공-생성형 AI에서 가장 낮았으며(O=0.602), 생성형 AI는 'AI 분석' 차원에서 가장 두드러졌다(50.0%). 비공공플랫폼은 포괄성과 연결성에서, 공공 서비스는 편의성과 최신성에서 상대적으로 높았다. 본 표본의 병행 사용 환경에서 생성형 AI는 기존 서비스를 단순히 대체하기보다 상이한 충족을 제공하는 분화된 자원으로 관찰되었다. 이러한 결과는 세 유형의 경쟁과 공존을 정보행태 관점에서 해석할 경험적 근거가 되며, 차세대 학술정보서비스의 기능적 차별화와 이용자 지원 전략에 문헌정보학적 시사점을 제공한다.

As generative AI reshapes scholarly information seeking, this study examines the gratification structure of services that ScienceON users employ alongside the platform, drawing on Dimmick's niche theory and uses and gratifications theory. The data comprise 906 open-ended responses from the 2025 ScienceON Usage Survey by the Korea Institute of Science and Technology Information (KISTI). Services were classified into three types: public scholarly information services, non-public scholarly platforms, and generative AI services. Each response was coded across eight gratification dimensions (mean Cohen's κ = .91), and niche width, niche overlap, and competitive advantage were estimated through respondent-clustered bootstrapping with multiple-comparison correction. The three types did not collapse into a single competitive axis but exhibited overlap and differentiation simultaneously. Overlap was highest between public and non-public services (O = 0.753) and lowest between public services and generative AI (O = 0.602). Generative AI dominated the 'AI analysis' dimension at 50.0%, while non-public platforms held high shares in comprehensiveness and connectivity, and public services in convenience and recency. Within the parallel-use environment of the present sample, generative AI did not simply displace existing services but was observed to occupy a differentiated position offering distinct gratifications. The findings ground an information behavior reading of competition and coexistence among the three types, and inform functional differentiation and user support strategies for next-generation scholarly information services.

In this paper, a parallel manipulator is comprised of two sliders and four links. Sliders execute a linear reciprocating motion depending on parallel guides and make the connected links rotate. A couple of links connected by sliders do coupling motion. The end-effector called a link tip has orientation angle. Through the kinematics analysis of this manipulator, we found displacement, velocity and acceleration using direct and inverse kinematics. We used equations that derived from this analysis and determined five constraint conditions. These conditions had much to do with rotation states of links, the relative relation of link length and coupling motion state. To verify those, we suggest a new algorithm regarding constraint conditions of a manipulator. With the result which performed the algorithm, we found out that operation range of coupled links was limited by relative relation of link length and that manipulator was not able to carry out a series of link motion, in case of being the link vertical between two parallel guides.

This paper presents the analytical stiffness analysis method for a low-DOF planar parallel manipulator. An n-DOF (n<3) planar parallel manipulator to which 1- or 2-DOF serial mechanism is connected in series may be used as a positioning device in planar tasks requring high payload and high speed. Differently from a 3-DOF planar parallel manipulator, an n-DOF planar parallel counterpart may be subject to constraint forces as well as actuation forces. Using the theory of reciprocal screws, the planar stiffness is modeled such that the moving platform is supported by three springs related to the reciprocal screws of actuations (n) and constraints (3-n). Then, the spring constants can be precisely determined by modeling the compliances of joints and links in serial chains. Finally, the stiffness of two kinds of 2-DOF planar parallel manipulators with simple and complex springs is analyzed. In order to show the effectiveness of the suggested method, the results of analytical stiffness analysis are compared to those of numerical stiffness analysis by using ADAMS.

A spatial 3 degrees-of-freedom mechanism employing Stewart Platform structure is proposed: the mechanism maintains the 3- RRPS structure of Stewart Platform but has an additional passive PRR serial sub-chain at the center area of the mechanism in order to constrain the output motion of the mechanism within the output motion space of the added PRR serial subchain. The forward and reverse position analyses of the mechanism are performed. Then the mechanism having both the forward and the reverse closed-form solutions is suggested and its closed form solutions are derived. It is confirmed, through the kinematic analysis of those two proposed mechanisms via kinematic isotropic index, that both the proposed mechanisms have fairly good kinematic characteristics compared to the existing spatial 3-DOF mechanisms in literature.