• Title/Summary/Keyword: 여유구동

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Performance Analysis of Singularity-Free 3-DOF Parallel Haptic Device with Redundanct Acutation (여유구동을 지닌 무특이점 병렬형 3 자유도 햅틱기구의 성능행석)

  • Kim, Tae-Joo;Chung, Goo-Bong;Lee, Jae-Hoon;Yi, Byung-Ju;Suh, Il-Hong
    • Proceedings of the KIEE Conference
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    • 2003.07d
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    • pp.2396-2398
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    • 2003
  • 세 개의 체인으로 구성된 병렬형 3 자유도 기구는 특이점을 지님으로 인하여 햅틱기구로 활용시 불특정한 힘반영으로 인해 제한요소가 발생한다. 본 논문은 여유구동을 활용함으로써 특이점을 해소하고, 힘반영의 크기를 증가시킴으로써 햅틱기구의 성능을 향상시키는 것을 목적으로 한다. 또한 여유구동 모터를 베이스에 부착함으로써 관성력을 최소화 시키고, 와이어와 기어비를 활용하여 부드럽고 큰 힘반영 능력을 가능케 했으며, 시뮬레이션을 통해 힘반영 성능을 확인하였다.

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Analysis of Jacobian and Singularity of Planar Parallel Robots Using Screw Theory (스크류 이론을 이용한 평면형 병렬로봇의 자코비안 및 특이점 해석)

  • Choi, Jung-Hyun;Lee, Jeh-Won;Lee, Hyuk-Jin
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.36 no.11
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    • pp.1353-1360
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    • 2012
  • The Jacobian and singularity analysis of parallel robots is necessary to analyze robot motion. The derivations of the Jacobian matrix and singularity configuration are complicated and have no geometrical earning in the velocity form of the Jacobian matrix. In this study, the screw theory is used to derive the Jacobian of parallel robots. The statics form of the Jacobian has a geometrical meaning. In addition, singularity analysis can be performed by using the geometrical values. Furthermore, this study shows that the screw theory is applicable to redundantly actuated robots as well as non-redundant robots.

Performance Analysis and Optimal Actuator Sizing for Anthropomorphic Robot Modules with Redundant Actuation (여유구동 인체형 로봇 모듈의 성능해석 및 구동장치 최적설계)

  • 이상헌;이병주;곽윤근
    • Transactions of the Korean Society of Mechanical Engineers
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    • v.19 no.1
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    • pp.181-192
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    • 1995
  • In this study, we introduce new types of planar 2 degree-of-freedom robot modules resembling the musculoskeletal structure of the human arm with actuation redundancy. First, for the given actuator sizes the performance analysis for the manipulator with redundant actuation and without redundant actuation is performed with respect to maximum load handling capacity, maximum hand velocity, and maximum hand acceleration. Secondly an algorithm which decides optimal actuator sizes for the given operational performances is introduced, and the optimal actuator sizes for a robot module with four redundant actuation are obtained. The algorithms employed in this paper will be useful to analyze the robot performances and to determine the actuator sizes for general robot manipulators.

Torque Distribution Control of 3RRR Redundant Parallel Robot (여유구동 3RRR 병렬로봇의 힘분배 제어에 관한 연구)

  • Lee, Sang-Moon;Lee, Jeh-Won;Shim, Ho-Seok
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.2
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    • pp.72-79
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    • 2008
  • In the redundant actuation system which has more actuators than a system's mobility, there are various method to determine actuated torques because those are not determined uniquely. This paper presents a torque distribution method using weighted-pseudoinverse to optimize the maximum torque of various actuated inputs of the redundant system. The various weighting factor of weighted-pseudoinverse is studied to reduce maximum actuated torque. This method is experimentally applied to 3RRR parallel robot, which shows that presented method can efficiently reduce the maximum actuated torque.

포항공대 7자유도 직접구동 로봇의 설계

  • 염영일;정완균
    • Journal of the KSME
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    • v.31 no.1
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    • pp.43-50
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    • 1991
  • 로봇의 설계시 고려하여야 하는 여러가지 면을 기술하였다. 평면 3자유도 링크의 경우 길이비를 "Fibonacci Sequence"를 따라가도록 결정하였으며 여유자유도를 갖는 직접구동로봇의 설계 및 제작시 유의하여야 할 사항을 정리하였다. 몸체설계후 POSTECH DD 로봇을 위한 실시간 제 어환경이 구성되었으며 VME버스의 MC68020/68882 프로세서를 탑재한 "one board" 컴퓨터에서 모든 로봇제어 소프트웨어가 수행되었다.든 로봇제어 소프트웨어가 수행되었다.

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Development of a five-bar finger with redundant actuation (여유구동을 이용한 5관절 휴먼핑거의 개발)

  • 이재훈;이병주;오상록;김병호
    • 제어로봇시스템학회:학술대회논문집
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    • 1997.10a
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    • pp.1613-1616
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    • 1997
  • In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

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Analysis and control algorithms for 5-bar finger mechanism with redundant actuators (여유구동을 지닌 5절 기구형 손 메카니즘의 성능해석 및 제어 알고리즘)

  • 이병주;서일홍;오상록
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.48-51
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    • 1996
  • A 5-bar structure with redundant actuators is proposed as a finger mechanism. It is shown that one additional redundant actuator greatly enhances the load handling capacity of the system. The actuator location should be carefully decided to maximize the performance enhancement. Furthermore, we develop stiffness and frequency control algorithms based on the internal loading created by redundant actuation. The effectiveness of these algorithms have been demonstrated by simulations.

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Structural Safety Evaluation of Basic Design Model of Linear Actuator for Blade Pitch Control of eVTOL Aircraft (eVTOL 항공기 블레이드 피치 제어용 선형 구동기 기본설계 모델의 구조 안전성 평가)

  • Young-Cheol, Kim;Dong-Hyeop, Kim;Sang-Woo, Kim;Jeong-Hyun, Kang;Dohyung, Kim
    • Journal of Aerospace System Engineering
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    • v.16 no.6
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    • pp.106-113
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    • 2022
  • The structural safety of the basic design model of the linear actuator for the individual blade pitch control of eVTOL personal aircraft was investigated. Stress analysis based on the finite element method was conducted, and the margin of safety was calculated to examine the structural safety under stall load conditions. Additionally, fatigue analysis was conducted to evaluate the fatigue life of the linear actuators under operating conditions. The load history with the blade pitch angle was calculated using multi-body dynamics analysis, and the static load analysis was used to obtain the stress distribution for the rated load. As a result, it was confirmed that the safety margins exceeded zero, and the fatigue lives of all linear actuator components exceeded 107 cycles, indicating a safe structural range.