• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.417-423
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• 2012

In this paper, In order to make up for the weak point of driving structure that existing used single motor in motor design, as a method to make use of advantage for joint of hollow type, we propose implementation methods for high torque, high precision, backlash less, and design of secondary safety device, and application method through joint organization using multiple motors.

• Journal of the Korea Convergence Society
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• v.11 no.5
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• pp.175-182
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• 2020

The calculation of the optimal trajectory of the stepped top-down robot was made using a genetic algorithm and a computational torque controller. First, the total energy efficiency was minimized using the Red-Cold Generic Algorithm (RCGA) consisting of reproductive, cross, and mutation. The reproducibility condition related to the position assembly of the start and end of the stride and the joints, angles, and angular velocities are linear constraints. Next, the unequal constraint accompanies the condition for preventing the collision of the swing leg at the corner with the outer surface of the stairs, the condition of the knee joint for preventing kinematic peculiarity, and the condition of no moment in safety in the traveling direction. Finally, the angular trajectory of each joint is defined by fourth-order polynomial whose coefficient is to approximate chromosomes. This is to approximate walking. In this study, the energy efficiency of the optimal trajectory was analyzed by computer simulation through a biped robot with seven degrees of freedom composed of seven links.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.1
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• pp.21-27
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• 2013

Manual wheelchair propulsion can lead to pain and injuries of users due to mechanical inefficiency of wheelchair propulsion motion. The kinetic analysis of the upper limbs during manual wheelchair propulsion needs to be studied. A two dimensional inverse dynamic model of upper limbs was developed to compute the joint torque during manual wheelchair propulsion. The model was composed of three segments corresponding to upper arm, lower arm and hand. These segments connected in series by revolute joints constitute open chain mechanism in sagittal plane. The inverse dynamic method is based on Newton-Euler formalism. The model was applied to data collected in experiments. Kinematic data of upper limbs during wheelchair propulsion were obtained from three dimensional trajectories of markers collected by a motion capture system. Kinetic data as external forces applied on the hand were obtained from a dynamometer. The joint rotation angles and joint torques were computed using the inverse dynamic model. The developed model is for upper limbs biomechanics and can easily be extended to three dimensional dynamic model.

• 한국신재생에너지학회:학술대회논문집
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• 2010.06a
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• pp.183.2-183.2
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• 2010

본 개발에서의 해상용 풍력발전기는 크게 허브와 블레이드를 합한 상부 구조물, 전기 발전기와 연결 조인트의 중간구조물, 각종 제어 장치가 들어있는 제어박스로 나누어진다. 상부 구조물은 Circular Hub 타입의 Darrieus 형상으로 양력(lift)을 이용한 회전력이 발생하며, Circular Hub 타입은 기존의 허브와 블레이드를 연결하여주는 암(arm)에 의해 유발되는 항력토크를 최소화 하기 위한 신개념 형상설계가 이루어 졌으며, 저속에서 우수한 회전특성을 가진다. 이는 바람을 받아 기계적 에너지로 전환 하는 역할을 하며, 풍력발전기의 성능에 직접적인 영향을 미친다. 중간구조물의 전기발전기는, 상부에서 발생된 기계적 에너지를 이용하여 전기적 에너지로 전환 하는 역할을 수행한다. 이렇게 전환된 전기적 에너지는 하부의 제어박스를 거쳐서 해상용 부이(buoy)의 하단에 위치한 베터리 뱅크로 전달, 저장되어 부이에서 쓰이는 전력을 충당하게 된다. 한편 본 개발은 풍력발전기의 공력하중 해석과 로터블레이드의 설계, 풍력발전기의 구조, 진동해석, MPPT 제어컨트롤러와 Breaking controller, 풍동 및 차량시험을 통한 성능평가 및 분석 등의 순으로 개발을 수행하였다.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.10
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• pp.1841-1852
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• 1992

With the wide application of fiber-reinforced composite material in aircraft, space structures and robot arms, the design and manufacture of composite joints have become a very important research area because they are often the weakest areas in composite structures. In this study, the effects of the adhesive thickness, residual thermal stress on the torque capacity of the tubular single lap joints were studied. The torque capacity of the adhesive joints were experimentally determined and found to be inversely proprotional to the adhesive thickness. In order to match the experimental results to the theoretical analyses, the elastic-perfectly plastic material properties of the adhesive were used in the closed form solution. Also, the residual thermal stress of the joints were calculated by the finite element method and it was proved that the residual thermal stress could play an important role in the thick adhesive joints.

• Journal of Power System Engineering
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• v.6 no.3
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• pp.36-41
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• 2002

A swashplate type piston motor with a tripod joints is introduced to improve compactness and starting torque in conventional types of motor. If the driving torque of motor shaft is transmitted by utilizing the mechanism, its friction torque loss would be drastically reduced and mechanical efficiency would be improved because the lateral force on the piston of the rod type motor with tripod joints mechanism is relatively smaller than that of the conventional plunger type motor. In particular, kinematics analysis for the mechanism are done as a preliminary study to investigate the feasibility of the mechanism in the axial piston motor. General formulas are derived from the displacement and velocity analysis of the mechanism, showing relationships between output shaft and shoe holder motion. A series of numerical calculations are carried out for a medium size motor with 160cc/rev using the formulas and their graphical plots are shown as well.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.12 s.255
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• pp.1543-1550
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• 2006

Since the performance of joints usually determines the structural efficiency of composite structures, an extensive knowledge of the behavior of adhesive joints and the related effect on joint strength is essential for design purposes. In this study, the torque capacity of adhesive joints was predicted using the combined thermal and mechanical analyses when the adherend was a composite tube. A finite element analysis was performed to evaluate residual thermal stresses developed in the joint, and mechanical s stresses in the adhesive were calculated including both the nonlinear adhesive behavior and the behavior of composite tubes. Three different joint failure modes were considered to predict joint failure: interfacial failure, adhesive bulk failure, and adherend failure. The influence of the composite adherend stacking angle on the residual thermal stresses was investigated, and how the residual thermal stresses affect the joint strength was also discussed. Finally, the predicted results were compared with experimental results available in literature.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.11
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• pp.979-986
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• 2016

The tripod shafts of constant-velocity joint are used in both the trains KTX and KTX-sanchon. It is an important component that connects the motor reduction unit and the axle reduction unit in a power bogie. The tripod shaft not only transmits drive and brake torque in the rotational direction, but also slides in the axial direction. If the drive system is loaded with an excessive torque, the fuse part of the shaft will be fractured firstly to protect the other important components. In this study, a rig was developed for conducting torsion tests on the tripod shaft, which is a type of mechanical fuse. The tripod shafts were subjected to torsional fracture test and torsional fatigue test on the rig. The weak zone of the tripod shaft was identified, and its fatigue life was predicted using finite element analysis (FEA). After analyzing the FEA results, design solutions were proposed to improve the strength and fatigue life of the tripod shaft. Furthermore, the deterioration trend and time for failure of the tripod shaft were verified using the hysteresis loops which had been changed with the advancement of the torsional fatigue test.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.5
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• pp.343-354
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• 2020

Bi-stable mechanism is a system that has two different stable equilibrium positions within its range of motion. It has an ability to stay in two different positions without external power input and despite small disturbances. One of the most bi-stable applied mechanism is a morphing system, such as deployable structures, switch systems, and robot grippers. However, due to the complexity of mechanism and limitation of structure configuration, it is difficult to apply on a morphing system with rotating link mechanism. In this paper, an implementation method of rotational bi-stable mechanism using cylindrical permanent magnets is proposed. The magnetic field and the magnetic force were calculated from electromagnet model of the cylindrical permanent magnet. Based on the model, the force relation between two links containing the cylindrical permanent magnets was estimated. An array of cylindrical permanent magnets was selected for symmetric bi-stability, and an experiment on the link structure with the proposed bi-stable mechanism was performed to investigate the stability against a external torque.