• Title/Summary/Keyword: 구동 장치

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Development of an Intrinsic Continuum Robot and Attitude Estimation of Its End-effector Based on a Kalman Filter (내부형 연속체로봇 개발 및 칼만필터를 이용한 말단장치 자세추정)

  • Kang, Chang Hyun;Bae, Ji Hwan;Kang, Bong Soo
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.39 no.4
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    • pp.361-367
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    • 2015

  • This paper presents the design concept of an intrinsic continuum robot for safe man-machine interface and characteristic behaviors of its end-effector based on real experiments. Since pneumatic artificial muscles having similar antagonistic actuation to human muscles are used for main backbones of the proposed robot as well as in the role of the actuating devices, variable stiffness of robotic joints can be available in the actual environment. In order to solve the inherent shortcoming of an intrinsic continuum robot due to bending motion of the backbone materials, a Kalman filter scheme based on a triaxial accelerometer and a triaxial gyroscope was proposed to conduct an attitude estimation of the end-effector of the robot. The experimental results verified that the proposed method was effective in estimating the attitude of the end-effector of the intrinsic continuum robot.

  • https://doi.org/10.3795/KSME-A.2015.39.4.361 인용 PDF KSCI

Launch and On-orbit Environment Verification Test of Flight Model of Hinge Driving Type Holding and Release Mechanism based on the Burn Wire Release (열선분리방식을 이용한 힌지구동형 구속분리장치 비행모델의 발사 및 궤도환경 검증시험)

  • Lee, Myeong-Jae;Lee, Yong-Keun;Kang, Suk-Joo;Oh, Hyun-Ung
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.44 no.3
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    • pp.274-280
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    • 2016

  • Hinge driving type holding and release mechanism based on the burn wire release for application of cubesat is main payload of STEP Cube Lab. (Cube Laboratory for Space Technology Experimental Project) to be launched at 2015. It has high constraint force, low shock level as well as surmounting drawbacks of conventional nichrome burn wire release method that has relatively low constraint force and system complexity for application of multi-deployable systems. In this paper, we have proposed a flight model of holding and release mechanism for the verification of the constraint force and deployment status signal acquisition. To validate the effectiveness of the flight model, launch and on-orbit environment verification test have been performed.

  • https://doi.org/10.5139/JKSAS.2016.44.3.274 인용 PDF KSCI

Vibration Reduction Technique for Rotating Suspension Vehicles with a Modified Skyhook Controller (수정된 스카이훅 제어기를 적용한 회전형 현가장치 차량의 차체진동 저감)

  • Jung, Samuel;Yoo, Wan-Suk
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.37 no.1
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    • pp.25-30
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    • 2013

  • In military vehicles moving over poor roads, severe vibration of the chassis can damage internal components. Currently, many studies have focused on active and semi-active suspensions to reduce the vibration of the chassis. In this study, a vibration reduction technique is suggested by applying a unique rotating suspension structure. SH-ADD, a type of modified Skyhook, was selected as a controller for vibration reduction. A random ISO class E road was selected as the driving road. The simulation was performed using ADAMS Control and Matlab Simulink. The control result was compared with the RMS acceleration with a focus on the cumulative fatigue of the internal equipment.

  • https://doi.org/10.3795/KSME-A.2013.37.1.025 인용 PDF KSCI