• 한국정밀공학회지
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• 제15권12호
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• pp.142-147
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• 1998

Developing robot hands with multi-degree-of-freedom is one of the topics that researchers have recently begun to improve the limitation by adding flexibility and dexterity. In this study, an articulated servo-pneumatic robot hand system with direct-drive joints has been developed whose main feature is the minimization of the dimension. The servo-pneumatic system is advantageous to fabricate a dexterous robot hand system due to the high torque-to-weight and torque-to-volume ratio. This enables the design of a finger joint with an integrated rotary vane type actuator which produces high output torque without reduction gears, being very robust. In order to control the servo-pneumatic finger joints, a miniature proportional valve that can be attached to the robot hand is required. In this paper, a flapper nozzle type 4/3-way proportional directional valve has been designed and tested. The experimental results show that the developed valve can control a finger joint satisfactorily without much vibratory joint movements and acoustic noises.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.331-336
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• 1995

In this past decade, industrial robot have substituted human workers successfully in certain areas, however, the applications are limited due to the shortcoming in their mechanism and control strategies. Many researchers, therefore, have focused on improving the mechanical and sensory capabilities. Developing mult-degree-of-freedom end effectors, in other words robot hands, is one of the topics that researchers have begun to improve the limitation. A set of direct drive type servo-pneumatic finger joint has been developed for a dexterous robot hand. To control the pneumatic finger joints, a prototype 4/3-way proportional control valve has been designed and tested as a preliminary, research for the control of the pneumatic finger joints. A series of experiments have been conducted to verify the performance characteristics of the valve and the conventional proportional error contral with minor-loop compensation has been used to control the anguar position of the finger joints.

• Journal of Mechanical Science and Technology
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• 제17권7호
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• pp.978-985
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• 2003

In this paper, a new proportional solenoid invented for pneumatic directional control valves is introduced. The new proportional solenoid has two-dimensional structure and a pivoting armature on which the friction force is inherently negligible. Another advantageous feature of this solenoid is that its mechanical parts can be easily manufactured and assembled. The working principle and design example of the now proportional solenoid, its application to the activation of a 4/3-way directional control valve, and the evaluation of its control performance in a position control loop are reported.

• 드라이브 ㆍ 컨트롤
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• 제15권2호
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• pp.46-51
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• 2018

Many research studies have been carried out related to saving energy and environmental pollution in the field of construction machinery. The best solution for reducing the related environmental pollution is to reduce fuel consumption by upgrading the energy efficiency of machinery used in this field. An efficiency upgrade in the field of construction machinery would mean minimizing the pressure loss in hydraulic pipe lines or achieving optimal operating conditions while responding to a load. One way to achieve this is to make an equivalent circuit, like an electrohydrostatic actuator, or to improve the spool type valve using the 4/3 way method. This study deals with an electrohydraulic proportional flow control valve. SimulationX software is used as a simulation tool for analyzing the dynamic characteristics. The analysis results, including the performance and characteristics of design parameters, are discussed and the validity of the theoretical analysis is also evaluated.

• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집D
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• pp.260-265
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• 2001

This paper describes total flow control of an ice slurry system for pump energy saving. Similar turbo machinery has a characteristic that input power ratio is proportional to the three time of revolution speed ratio. To reduce the energy cost of brine pump in ice slurry storage systems, inverter is adapted instead of 3-way valve to control the speed of brine pump motor. One type of cooling load profile was used as driving load of the system, generated by a boiler and warm water storage tank. As results of the laboratory test, energy consumption and cost of the pump were reduced by 11.4%.