• Proceedings of the Korean Society of Marine Engineers Conference
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• 2011.10a
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• pp.77-78
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• 2011

한국해양연구원에서 개발 중인 Crabster 로봇팔을 기구학적으로 분석하고, 속도기구학을 매트랩을 이용하여 작업공간에 대해서도 분석 및 해석을 완료하였다. 운용자와 Crabster 로봇팔의 움직임을 고려해 개념 설계한 인간팔 크기의 7축 마스터 암 및 그립퍼의 기구부에 대해 2D 및 3D의 도면을 완성하였고, 마스터 암에 적용할 모터의 사양과 각 관절에 피드백 된 힘을 반영하기 위한 구동 모터의 엔코더를 이용한 위치 센서, DSP2812를 이용한 제어 명령 입력 장치와 구동 모터 드라이버를 포함한 마스터 - 슬레이브 시스템의 개념 설계를 완성하였다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2018.01a
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• pp.185-186
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• 2018

기존의 재활치료기구는 부피가 크고 고비용으로 재활치료센터 운영시간에 맞춰 통원하며 이용해야 하는 불편함이 있었다. 이러한 불편함을 해소하기 위해 제안하는 디지털 서보모터 재활 보조기구는 사용자의 상태에 맞게 전문가와 상의하여 구동수치와 손 안쪽의 와이어의 길이를 수정 한 후 사용하는 것을 원칙으로 사용자가 손가락 끝(지문)에 부착된 감압센서를 누르는 강도와 힘의 유지 유무에 따라 손가락을 굽히거나 펴는 행위를 훈련 할 수 있도록 한 재활치료기구이다. 본 논문의 구현결과는 향후 프로토타입을 보완하여 출력과 운용 방법을 기존과 달리 한다면 다양한 재활기구에 응용될 수 있을 것으로 사료된다.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.1
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• pp.111-118
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• 1999

Throughout this thesis, I describe the design, fabrication, and evaluation of the 3 DOF farce-reflecting haptic interface using USMs(ultrasonic motors). This haptic interface allows a htmlaIl "observer" to explore and interact with a virtual environrrent for the sense of touch. To effectively display the mechanical impedance of the htmlaIl hand we need a haptic device with specific characteristics, such as low inertia, alrmst zero friction and very high stiffness. USMs have attracted considerable attention as the actuator satisfied these conditions. An observer may grasp the end effector of revice and interact with surfaces and objects created within a virtual environment The revice provires force feedback, allowing users to "feel" objects within the environment. The device works very well, as users are able to detect the edge of the wall, the stiffness of the button and the puncture. TIle force-reflecting haptic interface could be suitable as a master for micro-surgery or as an interface to virtual reality training systems.

• Journal of Biomedical Engineering Research
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• v.22 no.5
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• pp.449-458
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• 2001

This is a test report of system efficiency for the moving-actuator type Bi-ventricular assist device (AnyHear $t^{MT}$ ) Seoul National University). $AnyHeart^{TM}$), as an energy converter. utilities a brushless DC motor(S/M 566-26A. Sierracin/ Magnedyne, Carlsbad, CA. U.S.A.) generating their pendulous motion in the epicyclic gear train. It is necessary to know about the overall efficiency of the system. The system is subdivided into three parts: motor part, actuator part and blood sac part (including valves, etc.) according to system mechanism. The motor was operated with a variable range of torque. angular speed and width of voltage Pulse In this report. $AnyHeart^{TM}$ is focused on the efficiency of the motor and actuator parts. 4 $\ell/min$ pump output. which is normal condition of $AnyHeart^{TM}$ system, the total system efficiency is 8%, which is composed of 50%, 85% and 17% efficiency (motor Part, actuator Part and blood sac Part) respectively. In the analyzed result. applied input voltage on normal condition of $AnyHeart^{TM}$ is determined. Also speed Profile with considering filling state of blood sac is Provided. In the test of the in vitro mock circulation. some experimental results are Provided to demonstrate the effectiveness of the Presented approach.

• Proceedings of the KIPE Conference
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• 2006.06a
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• pp.501-503
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• 2006

최근 산업 분야에서 리니어모터는 고속, 고정밀도의 요구사항에 따라 회전 모터와 볼 스크류, 벨트를 이용한 직선구동방식보다 빠르고 정확하며, 효율이 높기 때문에 활발히 이루어지고 있다. 리니어모터 중에서 선형 브러시리스 직류 전동기(LBLDCM)는 다른 리니어모터에 비해 소형, 경량이 가능하고, 저속 및 고속의 운전이 용이하며, 기계 가공 정도보다는 엔코더 등과 같은 위치 결정 응용 분야에 적합하며 본 연구에서 사용된 LBLDCM은 코일 가동형으로 영구 자석에 의해 발생된 자계와 가동자 코일에 흐르는 전류 사이에 작용하는 힘을 이용하게 된다. 이와 같은 LBLDCM을 응용분야에 적용하기 위해서는 구동 중에 속도가 변하는 지점에서 발생하는 진동을 줄여야 하며 목표지점까지의 정확한 위치 제어가 필수적이다. 따라서, 본 연구에서는 다양한 속도 프로파일에 따른 진동에 대해 비교 분석한 후, 이동거리에 따른 적합한 속도 프로파일에 대해 알아보았고, 그 결과를 토대로, 목표지점까지의 위치 오차를 저감하면서 정밀한 위치 제어에 적합한 프로파일을 제시하였다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.11
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• pp.6446-6451
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• 2014

Pneumatic motors are quite attractive for many applications because of their competitive price, light-weight, easy assembly, safety in hazardous areas as well as other features, such as a good force/weight ratio and operation in exceptionally harsh environments. In contrast to these advantages, pneumatic motors have limited use in applications, particularly those requiring a fast and precise response. These undesirable characteristics are due to the high compressibility of air and from the nonlinearities in pneumatic systems. This paper presents the sliding mode controller based on 3-loop(SMCB3L), which increases the load stiffness to control the rotation angle of a pneumatic motor. The characteristics for the step responses and load disturbances of the proposed controller were compared with the conventional PID controller. The experimental results showed that a properly designed SMCB3L is capable of high positioning accuracy within ${\pm}0.05mm$. Furthermore, the load stiffness of the SMCB3L can be improved 3.5 fold compared to that of PID controllers.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.481-485
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• 2003

This study describes the real-time measurement system which consist of multi-components load cell and linear motor. Operationg and data acquisition is controlled by PC. Multi-components load cell measures simultaneously the vertical force Fz and frictional force Fx when contactors move on sample surface. Linear motor is used to translate with constant speed without vibration. The frictional coefficient is calculated by Matlab$^{TM}$. The frictional coefficients between Al. plates. and fingertip and fabrics are measured.d.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.836-839
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• 2003

A pneumatic servo valve which is widely applied in industrial field. And It is consist of force motor, spool ＆ sleeve and servo controller. In this study. we developed the force motor which is consume to low power for a pneumatic servo valve. We could reduce the number of turn of the solenoid by using ferromagnetic permanent magnet and took different direction of each other using one coil instead of two coil. we modeled a system consisting of various electro-mechanical subsystems. The appropriateness of the model was verified by simulation. The simulation model resolved the motion of spool, the winding current and the magnetic force. Also, we calculated the displacement and velocity of the spool, flux contour line, b vector. flux density. flux linkage, back EMF etc.

• Journal of Drive and Control
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• v.15 no.4
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• pp.55-60
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• 2018

Force-controlled electro-hydrostatic actuators have to exhibit high backdrivability, to quickly compensate for force control errors caused by externally disturbed rod movement. To obtain high backdrivability, the servomotor for driving the hydraulic pump, should rotate exactly to such a revolution to compensate for force control errors, compressing or decompressing cylinder chambers. In this study, we proposed a modified velocity control structure, including a robust internal-loop compensator (RIC)-based velocity controller, for the servomotor to improve backdrivability of a force-controlled EHA. Performance improvement was confirmed experimentally, wherein sinusoidal velocity disturbance was applied to the force-controlled EHA, with constant reference input. Its dynamic force control errors reduced effectively, with the proposed control scheme, compared to test results with a conventional motordriver, for motor velocity control.

• Proceedings of the KSME Conference
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• 2001.06e
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• pp.613-618
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• 2001

For the evaluation of operability of MOV(Motor Operated Valve), the precision prediction of thrust/torque acting on the valve is important. In this paper, the analytical prediction method of thrust/torque was proposed. The design basis stem thrust calculation typically considers the followings: Packing thrust, Stem rejection load, design basis differential pressure load. In general, test results show that temperature, pressure, fluid type, and differential pressure, independently and combination, all have an effect on the friction factor. The prediction results of thrust/torque are well agrement with dynamic test results.