• Journal of the Korean Society for Precision Engineering
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• v.22 no.3 s.168
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• pp.38-45
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• 2005

In this paper, a bird type biped robot for entertainment controlled by R/C servo motors, is built using the embedded RTOS (Real Time Operating System). ${\mu}C/OS-II$ V2.00 is used fur RTOS and the board 80C196KC for main CPU. A control algorithm of R/C servo motors is proposed on ${\mu}C/OS-II's$ preemptive and deterministic property without any extra PWM module. The realized biped robot has 19DOF, that is, 12DOF for both legs, 6DOF for both arms and 1DOF for neck. To verify the proper walking process, ZMP(Zero Moment Point) theory is applied and the simulation has been done by ADAMS.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.804-807
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• 2005

In this paper, a double scotch yoke mechanism for moving simultaneously the fixed contact and moving contact of a gas circuit brake, is proposed and designed to improve the breaking characteristics of the circuit breaker. Firstly, the design parameters of the scotch yoke are kinematically determined from the desired design condition of the circuit breaker. Next, the stroke curve of the moving contact is designed by considering the design parameter and the specified opening characteristics of electric contacts. Based on the scotch yoke and stroke curve, the dynamics of the electric contacts is analyzed using ADAMS model of switch mechanism.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.2
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• pp.449-454
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• 2010

In this paper, flow characteristics of R600a in an adiabatic capillary tube were investigated employing the homogeneous flow model. The model is based on fundamental equations of mass, energy and momentum which are solved simultaneously. Two friction factors(Churchill) and viscosity(McAdams) are comparatively used to investigate the flow characteristics. Thermodynamic and transport properties of R600a are calculated employing EES property code. Flow characteristics analysis of R600a in an adiabatic capillary tube is presented to offer the basic design data for the operating parameters. The operating parameters considered in this study include condensation temperature, evaporation temperature, subcooling degree and inner diameter tube of the adiabatic capillary tube. The main results were summarized as follows: condensation and evaporation temperature, inlet subcooling degree and inner diameter tube of an adiabatic capillary tube using R600a have an effect on length of an adiabatic capillary tube. The length of an adiabatic capillary tube using R600a is expressed to the correlation shown in Eq. (15).

• Korean Journal of Soil Science and Fertilizer
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• v.21 no.3
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• pp.280-288
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• 1988

Lime requirement determination methods were experimentally compared and evaluated for the soils with different physico-chemical properties. The selected soils were mainly distributed in paddy field of Kangweon-Province; Anmi series from limestone region, Dongsong series from basalt region, Gyuam and Gangseo series from alluvial soil. The results were as follows: 1. Differences of soil lime requirement among seven methods ($CaCO_3$ incubation method, $BaCl_2$-TEA method, SMP-single buffer method, Double buffer method, Adams and Evans method, SMP-double buffer method, and O. R. D. method) were remarkably appeared. 2. Measuring lime values by $CaCO_3$ incubation method which is fixed on the basis of lime requirement, SMP-double buffer method was most acceptable for selected soils except Gyuam series, while $BaCl_2$-TEA method showed the highest value, and O. R. D. method was the lowest. 3. Exchangeable Al content of soils was neutralixed near to 70%, but 30% of extractable reached to neutralize when incubated with 100% lime equivalence. 4. Lime requirements based on exchangeable and extractable Al contents of soils were lower than that of $CaCO_3$ incubation method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1232-1235
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• 2005

In recent years, as the robot technology is developed the researches on the artificial muscle actuator that enable robot to move dextrously like biological organ become active. The widely used materials for artificial muscle are the shape memory alloy and the electroactive polymer. These actuators have the higher energy density than the electromechanical actuator such as motor. However, there are some drawbacks for actuator. SMA has the hysterical dynamic characteristics. In this paper the segmented binary control for reducing the hysteresis of SMA is proposed and the simulation of anthropomorphic robotic hand is performed using ADAMS.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.4
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• pp.43-49
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• 2004

A spring-actuated linkage system is used to satisfy the desired opening and closing characteristics of the electric contacts of a vacuum circuit breaker. If the type of a circuit breaker and the structure of the linkage system are predetermined, then design parameters such as stiffness, free length and attachment points of the spring become the important issues. In this paper, based on the energy conservation, the total system energy is constant throughout the operating range of the mechanism; a systematic procedure to optimize the spring design parameters is developed and applied to a simplified mechanism of a circuit breaker. The developed procedure is converted to the environment of the multi-body dynamics program, ADAMS for an in-depth consideration of the complex dynamics of a circuit breaker mechanism.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.813-819
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• 2008

For the wear characteristics assessment of Saemaul train passing through curves, an analysis model for multi-car system has been developed. By using this model and ADAMS/Rail, sensitivity analyses have been conducted for the wear characteristics by changing the related parameters. According to the increase of running speed, the wear number, the sliding mean and friction coefficient were increased. At high speed, the wear number, the sliding mean and friction coefficient of left wheel showed higher than right wheel. If the cant increased, the wear number the sliding mean and friction coefficient increased. but decreased based on the balance cant value by the curvature and running speed.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.217-222
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• 2007

This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

• Composites Research
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• v.25 no.6
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• pp.230-235
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• 2012

This paper presents the vibration characteristics and the optimization using the orthogonal array about applied composite optical structure of an aircraft. To acquire the vibration characteristics for stable line of sight, modal analysis are performed by using multi-body program ADAMS. And to optimize optical structure, for design variables were selected, larger-the-better characteristics were considered using results of S/N ratio and orthogonal array $L_9(3^4)$. When bearing constraints are selected, radial, axial and moment stiffness value are used to analysis for optimization until now. But B.S.R which is non-dimensional parameter is proposed, structures including bearings can be used for optimization. And then having a result of lager-the-better, the optimized values of each design variable were successfully suggested.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.4
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• pp.8-14
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• 2006

The important function of Ball-Stop part is to operate power shift using suitable pneumatic force for vehicle with more than 5 ton when a driver changes gear. In this paper, we have applied the concept of the DFSS(Design for Six Sigma) to robust design of Ball-Stop part. First, we have found the control factors which could mainly influence the performance of the Ball-Stop part. The simulations of contact between head and detent pin was performed to evaluate effect of control factors according to DOE(Design of experiment) by using $ADAMS^{(R)}$. Finally, we have obtained optimal levels of each factors using $MINITAB^{(R)}$. Through the comparison of the result of optimized design with one of inintial design, we have verified the usefulness of DFSS method which can be applied to robust design of mechanical systems.