• 제어로봇시스템학회논문지
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• 제15권6호
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• pp.612-618
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• 2009

This study is concerned about the optimal design of the arm 1 and arm 2 in the SCARA robot. The mass and inertia moment of the arm I and arm 2 in a SCARA robot is greatly affected on the performance such as a cycle time, and torques loaded on $1^{st}$ axis and $2^{nd}$ axis. To reduce the mass and inertia moment, this study carried out optimal design by FEM analysis using parametric variables, which is a width, a height of the rib and a thickness of arm in the arm. The rib is adapted instead of reducing the thickness in the arm. And the simulation by computer was conducted on two given paths in X direction and Y direction. After optimal design, the result showed that maximum torque of $1^{st}$ axis and $2^{nd}$ axis reduced to maximum 9.5% on a given path.

• 센서학회지
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• 제24권2호
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• pp.137-143
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• 2015

This paper describes the design of a two-axis force sensor with two step plate beams for measuring forces in an upper-limb rehabilitation robot. The two-axis force sensor is composed of a Fz force sensor and a Ty torque sensor. The Fz force sensor measures the force applied to a patient's arm pushed by a rehabilitation robot and the force of patient's arm. The Ty torque sensor measures the torque generated by a patient's arm motion in an emergency. The structure of sensor is composed of a force transmitting block, two step plate beams and two fixture blocks. The two-axis force sensor was designed using FEM (Finite Element Method), and manufactured using strain-gages. The characteristics test of the two-axis force sensor was carried out. as a test results, the interference error of the two-axis force sensor was less than 1.24%, the repeatability error of each sensor was less than 0.03%, and the non-linearity was less than 0.02%.

• 한국산업보건학회지
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• 제5권2호
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• pp.147-159
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• 1995

This study was conducted to introduce fundamental data of hand-arm vibration and noise exposure levels with impact wrenches(double-hammer impact wrenches and oil-pulse impact wrenches) used in automobile assembly lines considering the process variables and tool variables. In studing, products per day, required time screwing the bolts or nuts per bolts or nut were considered as process variables, and capacity of bolts or nuts, air consumptions per minute, tool weights, RPM were considered as tool variables. Hand-arm vibration levels of 3 axis in each hand were measured using the instruments compling with ISO/DIS 5349 and noise levels were measured using a noise logging dosimeter. The results were as follows : 1. Required time to screwing the bolt or nut by oil-pulse impact wrenches is shorter than double-hammer impact wrenches but total daily exposure time of oil-pulse impact wrenches was higher than double-hammer impact wrenches because the number of bolts or nuts per cycle was many. 2. Oil-pulse impact wrenches have been used to screwing the large bolt or nut in comparing with double-hammer impact wrenches and required time to screwing the bolts or nuts were shorter than double-hammer impact wrenches because oil-pulse impact wrenches were using high RPM and large air consumption per minute. Noise level of oil-pulse impact wrenches was 8 dB(A) lower than double-hammer impact wrenches. 3. Dominant hand-arm vibration levels of double-hammer impact wrenches in each hand were $8.24m/sec^2$ of Zh axis in right hand and $9.60m/sec^2$ of Xh axis in left hand. Dominant hand-arm vibration level of oil-pulse impact wrenches in each hand was $2.59m/sec^2$ of Xh axis in right hand and $3.23m/sec^2$ of Yh axis in left hand. 4. In double-hammer impact wrenches, corresponding hand-arm vibration levels of Xh, Yh, Zh axis in left hand were higher than hand-arm vibration levels of right hand in 3 axis. In oil-pulse impact wrenches, Xh axis of right, Yh axis of left, Zh axis of left were higher than the corresponding hand-arm vibration levels of Xh, Yh, Zh axis in right and left hand. 5. Correlation coefficients among Xh, Yh. Zh axis of right and left hand hand-arm vibration levels in double-hammer impact wrenches and oil-pulse impact wrenches were commonly high in Yh axis and correlation coefficients of Yh axis in double-hammer impact wrenches and oil-pulse impact wrenches were 0.76 and 0.86,respectively. 6. As a measure repetitiveness, plotting total daily exposure time with the number of bolts or nut per cycle, direct correlation was shown between repetitiveness and hand-arn vibration exposure, and correlation coefficient between the number of bolts or nut per cycle and total daily exposure time in double-hammer impact wrenches, oil-pulse impact wrenches were 0.84 and 0.50, respectively. 7. Considering the total acceleration level and tool variables in double-hammer impact wrenches and oil-pulse impact wrenches, air consumption in right hand, and bolt or nut capacity in left hand were commonly the variable that explainability was high. Considering the noise and tool variables in double-hammer impact wrenches and oil-pulse impact wrenches, air consumption per minute was commonly the variable that explainability was high.

• 한국기계가공학회지
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• 제7권2호
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• pp.3-7
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• 2008

A polishing machine adopting a new unique structural mechanism has been developed, named as a swing-arm type polishing machine. The mechanism is such that the tool path tracks on a spherical surface, of which the diameter is adjusted by setting up the machine mechanism properly. It has a strong benefit especially for polishing axis-symmetric concave mirror surfaces. The swing-arm type polishing machine with 5-axes has been designed in order to polish a concave mirror surface lip to diameter of 2 meters. The drawings are made using 3D CAD and strain-stress analysis has been done by finite element method. AC servo-motor has been used to move the swing arm and a operating software has been developed using a LapVIEW tool. Result of the test run was satisfactory which convinces the usefulness of the swing-arm type polishing machine.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.677-683
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• 2015

This paper proposes a helicopter direction adjustment system using barycenter shift. Most conventional methods for direction adjustment of uniaxial helicopters rely on the angle of inclination of the main rotor. However, the inherent burden of the bearing of the main rotor and serious abrasion of the helicopter using the above methods may results in loss of balance. To decrease abrasion and enhance the barycenter stability, the proposed method was used to shift the barycenter of the helicopter instead of the main rotor for direction adjustment. We set a biaxial ARM on a uniaxial helicopter to adjust the direction of ARM pointing as well as to realize stable direction control when the helicopter loses its balance. The method may enhance the landing safety of helicopters in emergencies. Uniaxial helicopters can be controlled under any environment by adjusting the motor parameters of the ARM which is dependent on the center of mass using neural network. The experiment results show that the helicopter can return to the starting position quickly under the external disturbance.

• 한국운동역학회지
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• 제21권1호
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• pp.39-46
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• 2011

The purpose of this study was to examine differences between players who bend the left elbow and those who stretch it during the forward swing from BST to BC in a 2-handed backhand stroke among outstanding high school tennis players, and to assess the detailed 3D rotational kinematic characteristics of the shoulder and the hip. Statistically significant differences were observed between groups in the longitudinal axis rotation angle of the shoulder and the angle between the shoulder and the arm at BST, and in the side to side movement of the shoulder, the up and down movement of the hip, the side tilt angular velocity of the shoulder, the side tilt angular velocity of the hip, and the front tilt angular velocity of the hip at BC. The difference in the longitudinal axis rotation angle of the shoulder between the 2 groups suggests a difference in the flexibility of the joint in the shoulder arm racquet system. The longitudinal axis rotation angular velocity of the shoulder reached its peak at 75 % of the duration of the analyzed segment and then decreased little by little until BC. This time is considered the stage for increasing the angular velocity of the upper arm, the forearm, the hand and then the racquet, which are more distal segments than the shoulder.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.127-132
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• 1992

To relize the future intelligent robot the development of a special-purpose processor for a coordinate transformation is evidently challenging task. In this case the complexity of a hardware architecture strongly depends on the adopted algorithm. In this paper we have used an inverse kinemetics algorithm based on incremental unit computation method. This method considers the 3-axis articulated robot as the combination of two types of a 2-axis robot: polar robot and 2-axis planar articulated one. For each robot incremental units in the joint and Cartesian spaces are defined. With this approach the calculation of the inverse Jacobian matrix can be realized through a simple combinational logic gate. Futhermore, the incremental computation of the DDA integrator can be used to solve the direct kinematics. We have also designed a hardware architecture to implement the proposed algorithm. The architecture consists of serveral simple unitsl. The operative unit comprises several basic operators and simple data path with a small bit-length. The hardware architecture is realized byusing the EPLD. For the straight-line motion of the KAIST arm we have obtained maximum end effector's speed of 12.6 m/sec by adopting system clock of 8 MHz.

• 대한기계학회논문집A
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• 제21권1호
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• pp.144-153
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• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• 대한기계학회논문집
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• 제19권1호
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• pp.22-37
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• 1995

Industrial robot has played a central role in the production automation such as welding, assembling, and painting. There has been, however, little effort to the application of robots in machining work(grinding, cutting, milling, etc.) which is typical 3D work. The machining automation requires a high stiffness robot arm to reduce deformation and vibration. Conventional articulated robots have serially connecting links from the base to the gripper. So, they have very weak structure for he machining work. Stewart Platform is a typical parallel robotic mechanism with a very high stiffness but it has a small work space and a large installation space. This research proposes a new machining robot arm with a double parallel mechanism. It is composed of two platforms and a central axis. The central axis will connect the motions between the first and the second platforms. Therefore, the robot has a large range of work space as well as a high stiffness. This paper will introduce the machining work using the robot and design the proposed robot arm.

• 한국운동역학회지
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• 제13권1호
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• pp.185-204
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• 2003

The purpose of this study was to obtain the data for stable and accurate techniques of the free throw in basketball. The subjects of this study were seven male basketball player consisted of college students athletes. Free throw motions were taken by video camera. The three-dimensional coordinates was processed by DLT. The variables were the velocity, the angular velocity of the upper extremity segments, degree, and angular momentum. The result of analysis is summarized as follows. 1. The velocity and angular velocity of the upper extremity segment was showed an gradual increase and a smooth velocity transfer, transferring from proximal segment to distal segment at free throw motion in basketball. 2. The local term and remote term angular velocity momentum of the proximal segment showed larger than that of the distal segment in X, Y, Z axis component all. 3. The remote term angular momentum was showed larger than that of the local term angular momentum in X, Y, Z axis component all. 4. The angular motion of the upper trunk and upper arm, upper arm and forearm was showed in opposite direction and symmetrical angular momentum in local term angular momentum of the Y and Z axis component. 5. All the segments of upper extremity segment was showed left rotation in remote term angular momentum of the Y axis component and right rotation in remote term angular momentum of the Z axis component.