• Journal of Advanced Marine Engineering and Technology
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• v.34 no.2
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• pp.318-324
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• 2010

In this paper, the structure of the gravity compensator has been designed and applied to a light structure of a new 6-axis robot manipulator to enhance its torque performance. Also, analyses on the kinematics and inverse-kinematics of the manipulator have been performed. An FEM analysis has been performed on the structure of robot links to have an excellent performance of delivering 25 kg payload despite of 30kg weight, which is very light compared with other manipulators. Through the FEM analysis, the stability on the vending or fracture of the links of the robot manipulator has been verified.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2011.10a
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• pp.97-98
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• 2011

This paper is about the study of a new exo-skeleton device applying a gravity compensator. The exo-skeleton devices is to reduce the external torque applied to the human body joint for the purpose of helping the disabled, reducing heavy payload for industry workers or military soldiers. Most of the exoskeleton devices are actuated by the motors, but motors are limited in energy such that a short durability is always a big problem. In this paper, an exoskeleton device using a new gravity compensator based on a torsion bar is proposed to reduce the torque load applied to human body joints. The exoskeleton device is designed for the lower body of human. Analyses on the torsion bar spring and link of the exoskeleton device using FEM method were performed. To reduce the applied torque to the human joint, a torsion bar gravity compensator is applied to the exoskeleton. The effect of the torsion bar compensator for the exoskeleton device was verified through load test using developed test equipment.

• Journal of the Korean Society for Precision Engineering
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• v.34 no.2
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• pp.115-123
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• 2017

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.688-694
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• 2010

This paper presents a gravity compensator for the manipulator of a service robot. The manipulator of a service robot is operated with low velocity for the safety reason in most cases. In this situation gravitational torques generated by the mass of links are often much greater than dynamic torques for motion. A gravity compensator can counterbalance the gravitational torques, thereby enabling to utilize relatively low power motors. In this paper the gravity compensation for the roll-pitch rotation is considered which is often used for the shoulder joints of the manipulator of a service robot or humanoid robot. A gimbals is implemented and two 1-dof gravity compensators are equipped at the base. One compensates the gravitational torque at the roll joint and another provides the compensational torque for the gimbals. Various analyses showed that the proposed compensator can counterbalance the gravitational torques of 87% at the pitch joint and 50% at the roll joint. It is verified from dynamic simulations that the proposed compensator effectively counterbalances the gravitational torques.

• Economic and Environmental Geology
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• v.40 no.2 s.183
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• pp.153-170
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• 2007

Loading time and loading environment of the Dokdo seamounts were studied from flexure model and VGP(Virtual Geomagnetic Pole) determined by gravity and magnetic data. In spite of their similarity in size. a large difference about 50 mGal between gravity anomaly peaks of Dokdo and the Isabu Tablemount suggests different compensation degrees. Flexural modeling results show that the flexural rigidity(effective elastic thickness) of lithosphere for Dokdo is stronger(thicker) than that for the Isabu Tablemount. Also, it implies that the age of lithosphere at the time of loading of the Isabu Tablemount may be younger than that of Dokdo. Magnetic anomalies occur complicated over the Dokdo seamounts. Paleomagnetism was studied from VGP estimated by the least square and the seminorm magnetization methods with 1500 m upward continued magnetic anomalies. Age dating of Dokdo from previous study, flexural modeling, VGP, and geomagnetic polarity time scale suggest that after the cease of spreading in the Ulleung Basin, the Isabu Tablemount was formed first in normal polarity interval and followed by Dokdo. Also, they indicate that the fist large eruption of Dokdo was in normal polarity interval and the second large eruption in reversed polarity interval. The Simheungtaek Tablemount was formed in normal polarity interval between the formations of the Isabu Tablemount and Dokdo. These loading times for the Dokdo seamounts show a good coherence with the compressive stress period after the end of the opening of the East Sea. The Dokdo seamounts probably was caused by volcanism associated with the compressive stress.

• Journal of the Korean Geophysical Society
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• v.5 no.4
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• pp.293-303
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• 2002

Applying elastic plate model, we estimated elastic thickness and rigidity of the lithosphere in southern part of the Korean Peninsula($332km{\times}332km$ area of which center is $36.5^{\circ}N$ in latitude and $127.5^{\circ}E$ in longitude) by analysing terrain data and gravity data measured up to 2002. We tried to exclude the East Sea in choosing the study area because it has different tectonic environment. The mean Moho depth was estimated to be 30 km by power spectrum analysis of gravity data in the study area, Assuming one layer crust and applying elastic plate model, the loads with wavelengths of greater than 300 km are locally compensated, loads with wavelengths in the range 80-300km are partially supported by the strength of the lithosphere, and loads with wavelengths of less than 80km are almost completely supported by lithospheric strength. Assuming crustal model and rigidity, we calculated predicted coherence and compared it with observed coherence. As a result, we wert able to estimate the effective elastic thickness to be of 15 km(corresponding flexural rigidity is $3.0{\times}10^{22}Nm$). This indicates that the crust of the study area is relatively weaker than other old and stable continental regions but is similar to continental margins or oceanic area. The low rigidity could be explained by many tectonic and thermal activities such as orogenic activities, magmatic intrusions, volcanic activities, foldings, faultings, etc.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.1
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• pp.136-142
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• 2015

In the paper, a design method of knee and pelvis joint in the biped robot is proposed for shock absorption and gravity compensation. Similarly to the human's body, the knee joints of the biped robot support most body weight and get a shock from the landing motion of the foot on the floor. The torque of joint motor is also increased sharply to keep the balance of the robot. Knee and pelvis joints with the spring are designed to compensate the gravity force and reduce the contact shock of the robot. To verify the efficiency of the proposed design method, we develope a biped robot with the joint mechanism using springs. At first, we experiment with the developed robot on the static motions such as the bent-knee posture both without load and with load on the flat ground, and the balance posture on the incline plane. The current of knee joint is measured to analyze the impact force and energy consumption of the joint motors. Also, we observe the motor current of knee and pelvis joints for the walking motion of the biped robot. The current responses of joint motors show that the proposed method has an effect on shock reduction and gravity compensation, and improve the energy efficiency of walking motions for the biped robot.

• The Sea:JOURNAL OF THE KOREAN SOCIETY OF OCEANOGRAPHY
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• v.7 no.4
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• pp.267-285
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• 2002

Dok Island, a Pliocene volcano, lies in the southwestern part of the East Sea. Most the work to date have focused primarily on the petrolography of the island, and as a result, the morphological characteristics and internal structure of the volcanic edifices of the Dok Island remain poorly understood. To provide better constraints on these features, bathymetric data with multibeam echo sounder, 32-channel seismic and 3D gravity modeling were used in this study. Three positive topographic highs are present in the study area, and these highs satisfy the seamount criteria. They are named as Dokdo, Tamhae, and Donghae seamounts. 32-channel seismic survey was conducted to investigate the sediment thickness of the area, which shows that there are no sediments near the summit of seamounts. Away from the seamounts, however, sediment becomes thick(>2000 m) toward the western part of the study area, and sediments in the northern and southern parts are about 1000 m thick. Free-Air gravity anomalies in this study generally follow the bathymetric feature with less than -20 mGal at the western part, but increase towards the seamounts. In the summit of the Dokdo Seamount, anomalies reach over 120 mGal, and in Tamhae and Donghae seamounts, the peak anomaly shows 90 and 70 mGals, respectively. All seamounts have an isolated volcanic conduit in their centre and show regional compensation root with 0.5～1.5 km thickness. The flat-topped summit of the seamounts is probably caused by wave truncation, indicating the sea level at the time of formation of the flat-topped geometry. Comparison between the present-day sea level and subsidence level during the opening of the East Sea suggests that the seamounts in the study area have subsided by 200～300 m after the formation. Furthermore, it implies that the seamounts formed over 12～10 Ma.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.2
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• pp.247-258
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• 2003

In this paper, we present a pen-shaped input device equipped with accelerometers and gyroscopes that measure inertial movements when a user writes on 2 or 3 dimensional space with the pen. The measurements from gyroscope are integrated once to find the attitude of the system and are used to compensate gravitational effect in the accelerations. Further, the compensated accelerations are integrated twice to yield the position of the system, whose basic concept stems from the field of inertial navigation. However, the accuracy of the position measurement significantly deteriorates with time due to the integrations involved in recovering the handwriting trajectory This problem is common in the inertial navigation system and is usually solved by the periodic or aperiodic calibration of the system with external reference sources or other information in the filed of inertial navigation. In the presented paper, the calibration of the position or velocity is performed on-line and off-line. In the on-line calibration stage, the complementary filter technique is used, where a Kalman filter plays an important role. In the off-line calibration stage, the constant component of the resultant navigational error of the system is removed using the velocity information and motion detection algorithm. The effectiveness and feasibility of the presented system is shown through the experimental results.