• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.8
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• pp.722-730
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• 2015

Drive mechanism of multi-axis pintle thrusters for DCS(Divert Control System) was designed to meet the needs of minimizing the number of driving motors. In this study, preliminary model was designed in order to implement appropriate pressure control and thrust distribution. Based on the preliminary model study, the drive mechanism for DCS multi-axis pintle thrusters using piston was designed and evaluated by using AMESim software. Results show that three driving motors are enough to actuate four pintle thrusters.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.3
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• pp.329-334
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• 2008

It is well-known that a kind of wheel drive mechanism is usefully employed in various service robots. One of the essential requirements for such robots is regarded as the capability of climbing that enables them to run on an inclined road smoothly. So, this paper considers the capability of climbing in a wheel drive robotic mechanism and proposes a necessary discriminating condition to determine the specification of a driving actuator which will be employed. Consequently, it is expected that the proposed discriminating condition can be applied to wheel drive robotic mechanisms in the design aspect.

• Journal of the Korean Society of Propulsion Engineers
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• v.23 no.3
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• pp.9-17
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• 2019

Variable guide vanes(VGVs) that consist of link mechanisms and an actuator system are required for an aircraft gas turbine engine to adjust the incidence angle of stator vanes. In this study, we developed a VGV actuator system for three-stage VGVs with two hydraulic actuators. The requirements for the actuator system were derived by analyzing the link mechanisms and air loads, and a hydraulic power-pack was developed based on these requirements. Through a load test using the actuator test-rig and the application of synchronizing control logic with proper control gains, the actuator system could be developed and verified.

• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.22-27
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• 2012

This paper presents a ball screw-driven robotic gripper mechanism which is possible to grasp an object and analyzes its kinematic feature for grasping by simulation. For the purpose of identifying the feature of the robot gripper, we try to confirm the kinematics relating the joint space of the driving actuator to the gripper's tip space. To be specific, the proposed robot gripper employs one actuator and a symmetrical closed-chain structure. As a result, the specified robot gripper has an advantage of robustness to external forces structurally, and it is easy to implement simple grasping operations. Also the gripper has a useful squeezing effect for power grasping.

• Journal of Advanced Navigation Technology
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• v.14 no.5
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• pp.697-709
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• 2010

The patrol robot is a typical extreme robot for the military use. It helps soldiers by detecting and informing a potential risk instead, and warning earlier. Also, these kinds of extreme robots need good ability to conquest rough road. In this paper, we studied new mechanism through which we can get high speed on the flat road with round shape wheels, and simultaneously can get good ability to overcome rough road with blade-shape wheels. The shape of the wheels is being self-adaptively changed automatically according to the condition of the road without using additional actuator.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.5
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• pp.457-463
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• 2009

This paper describes the development of non-explosive separation(NES) device which can be equipped on a small satellite. It comprises mechanism itself and spring-type shape memory alloy(SMA) actuator. In order to design SMA actuator properly, the necessary actuation force is measured. Based on that result, SMA actuator is designed and fabricated. Finally, SMA actuator and the proposed mechanism are integrated. In order to evaluate performance of the developed NES, we carried out a response time test, preload test and shock level test. In near future, we expect to replace the imported NES device with the developed device.

• ICROS
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• v.10 no.4
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• pp.29-34
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• 2004

로봇 공학의 최종 목표는 인간의 행동, 지능 그리고 상호작용을 모방할 수 있는 인간형 로봇을 만드는데 있다[1]. 그 중에서 지능을 모방하는 것이 미래 인간형 로봇의 핵심 기술이 되겠지만, 현재로서는 인간형 로봇을 개발하는데 있어 필요한 로봇의 동작이나 상호작용 기술을 개발하기 위한 로봇 플랫폼 기술 개발이 중요한 부분을 차지하고 있다. 로봇 플랫폼을 개발함에 있어서는 로봇 메커니즘 설계와 구동 제어기 설계가 중요한 기본 요소이다. 휴머노이드의 메커니즘을 설계함에 있어서는 인간의 표준 기구학 데이터를 이용하고, 구동 제어기를 설계함에 있어서는 인간의 동역학적 데이터를 사용하는 것이 좋은 방법이라 생각된다. (중략)

• 정보화사회
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• s.95
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• pp.26-30
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• 1995

윈도95가 32비트 어드레싱과 선점형 멀티태스킹, 대규모 시스템구성 지원 등에 의해 기업컴퓨팅의 핵심 플랫폼으로 주목되고 있다. 윈도즈95가 지원하는 네트웍킹 구동메커니즘과 이를 이용하는 기업컴퓨팅의 개요와 새로운 애플리케이션 구동플랫폼으로서의 기능을 살펴본다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.5
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• pp.103-110
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• 2020

Bio-inspired underwater robots have been studied to improve the dynamic performance of fins, such as swimming speed and efficiency, which is the most basic performance. Among them, bio-inspired soft robots with a compliant tail fin can have high degrees of freedom. On the other hand, to improve the driving efficiency of the compliant fins, the stiffness of the tail fin should be changed with the driving frequency. Therefore, a new type of variable stiffness mechanism has been developed and verified. This study, which was inspired by the anatomy of a real dolphin, assessed a process of designing and manufacturing a robotic dolphin with a variable stiffness mechanism. By mimicking the vertebrae of a dolphin, the variable stiffness driving part was manufactured using subtractive and additive manufacturing. A driving tendon was placed considering the location of the tendon in the actual dolphin, and the additional tendon was installed to change its stiffness. A robotic dolphin was designed and manufactured in a streamlined shape, and the swimming speed was measured by varying the stiffness. When the stiffness of the tail fin was varied at the same driving frequency, the swimming speed and thrust changed by approximately 1.24 and 1.5 times, respectively.

• Tunnel and Underground Space
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• v.30 no.6
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• pp.591-602
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• 2020

Several alternative rock-cutting concepts, which are modified from the conventional ones, have been developed lately. Of the concepts, undercutting is one of the latest technologies. In this study, as a fundamental study on the undercutting technique, the rock-cutting mechanism and important parameters of the undercutting were introduced. This study built up cutting test system for evaluating the cutting performance of an actuated undercutting disc cutter (ADC), and carried out a series of cutting tests under different cutting parameters of ADC. The characteristics of cutter forces obtained from ADC rock-cutting tests were analyzed. The both average and peak values of the three directional cutter forces were linearly increased with the increases of linear velocity, penetration depth in vertical direction and eccentricity of ADC.