• The Bulletin of The Korean Astronomical Society
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• v.37 no.2
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• pp.150.2-150.2
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• 2012

로켓 엔진용 짐벌 마운트는 발사체 발사 후 자세 제어를 위해 발사체와 엔진사이에 장착된 TVC(Thrust Vector Control) 구동기의 작동으로 짐벌 운동을 수행하며 기구학적으로 자세 제어를 하는데 있어 매우 중요한 역할을 하는 요소이다. 이러한 짐벌 마운트는 엔진 추력을 발사체에 전달하는 기능 이외에 지정된 위치에 엔진을 고정시키는 역할과 위치 고정 후 발사체 단과 엔진의 정확한 추력 전달을 위한 기계적 불일치 보정 기능, 짐벌 구동에 대한 피봇 기능을 동시에 수행하여야 하는 복합적인 기능을 가지고 있다. 특히, 이중에서도 물리적으로 고 추력의 하중을 전달하는 요소로서 충분한 강도와 강성을 지녀야 하므로 본 연구에서는 이와 관련된 초기 설계 요구도 분석을 바탕으로 설계 규격에 부합하는 짐벌 마운트의 구조적 검토를 통해 로켓 엔진용 짐벌 마운트 설계 형상을 개념적으로 제시하였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.1
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• pp.18-25
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• 2003

A haptic hand controller (HHC) operated by the user’s hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. In this paper, a 3-DOF hand controller is first presented, in which all the actuators are mounted on the fixed base by combining a 5-bar linkage and a gimbal mechanism. The 6-DOF HHC is then designed by connecting these two 3-DOF devices through a handle which consists of a screw and nut. Analysis using performance index is carried out to determine the dimensions of the device. The HHC control system consists of the high-level controller for kinematic and static analysis and the low-level controller for position sensing and motor control. The HHC used as a user interface to control the mobile robot in the virtual environment is given as a simple application.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.313-318
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• 2001

A haptic hand controller operated by the user's hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. This paper presents a design method for KU-HHC, 6 DOF Korea University-haptic hand controller, which allows separation of workspace from linkage mechanism in consideration of the efficient user operation. First, the 3 DOF mechanism in which all the actuators are mounted on the fixed base is developed by combining a 5-bar linkage and gimbal mechanism. Then, the 6 DOF HHC is designed by connecting the two 3 DOF devices through a handle. This paper presents the forward and inverse kinematics for this device and Jacobian analysis. Improvement of the kinematic characteristics using performance index is also discussed. The hand controller KU-HHC based on this design concept and kinematic analysis was manufactured and shows excellent performance.