• Journal of Advanced Marine Engineering and Technology
• /
• 제32권5호
• /
• pp.724-729
• /
• 2008

Umbilical cord blood has been recently considered an attractive potential alternative as a source of stem cell transplantation to curing diseases such as leukemia, cancers, immune disorders. Normally the stored system of the umbilical cord blood specimen is equipped with a computer-controlled robotic arm that enables the samples to locate the identification places in liquid nitrogen tank at regulated temperature as about $-196^{\circ}C$. As the half of robotic arm is in the air and the rest part is submerged in liquid nitrogen, the temperature of robotic arm varies from ambient to liquid nitrogen temperature. In this study the temperature variation of upper part of arm above tank lid was thermally analysed by using the commercial code of Ansys. The result of analysis was that the upper part of robotic arm was seriously frozen due to heat transfer from liquid nitrogen as low as -$120^{\circ}C$. In order to solve the frost problem of robotic arm, small PTFE tube block as resistance material was introduced into the lower part of tank lid instead of the whole stainless steel(SUS) robotic arm. The results showed that the temperature of robotic arm above the lid was higher enough, and this method would be one of the very effective measure to solve the problem.

• 제어로봇시스템학회논문지
• /
• 제6권9호
• /
• pp.796-802
• /
• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2003년도 하계종합학술대회 논문집 Ⅲ
• /
• pp.1391-1394
• /
• 2003

본 논문은 ARM7 TDMI 마이크로프로세서의 연산기능 중 구현되지 알은 나눗셈 연산 기능을 추가로 구현하였다. 이를 위해 ARM ISA(Instruction Set Architecture)에 부호를 고려한 나눗셈 명령어인 'SDIV' 명령어를 추가로 정의하였으며, 나눗셈 알고리즘 Signed Nonrestoring Division을 수행할 수 있도록 ARM7 TDMI 마이크로프로세서의 Data Path를 재 설계하였다. 제안된 방법의 타당성을 검증하기 위하여 현재 ARM7 TDMI 마이크로프로세서의 정수 나눗셈 연산처리 방법과 제안된 구조에서의 정수 나눗셈 연산 처리 방법을 비교하였으며, 그 겉과 수행 cycle의 수가 40％로 감소되는 것을 확인하였다

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2005년도 춘계학술대회 논문집
• /
• pp.1944-1947
• /
• 2005

In this paper, the control of a prosthetic arm using the flex sensor signal is described. The flex sensors are attached to the biceps and triceps brchii muscle. The signals are passed a differential amplifier and noise filter. And then the signals are converted to digital data by PCI 6036E ADC. From the data, position and velocity of arm joint are obtained. Also motion of the forearm - flexion and extension, the pronation and supination are abstracted from the data by proposed algorithm. A two D.O.F arm with RC servo-motor is designed for experiment. The arm length is 200 mm, weight is 4.5 N. The rotation angle of elbow joint is $120^{\circ}$. Also the rotation angle of the wrist is $180^{\circ}$. Through the experiment, we verified the possibility of the prosthetic arm control using the flex sensor signal. We will try to improve the control accuracy of the prosthetic arm continuously.

• 한국기계가공학회지
• /
• 제7권4호
• /
• pp.50-55
• /
• 2008

CNC wire bending machines are used in industries to make a type variety of wire products such as long links. The machines have a long arm device to rotate in order to remove forming errors by flexibility of wire. Generally, the machines which constructed servo motors in the arm have the rotating range of the arm under 360 degree because the servo motors connect with fixed control devices on frame by many cables. The rotating angle under 360 degree limits working speed and forming geometry. Therefore this study developed a gear train to drive a parts in arm and to be independent on arm rotation movement. The developed gear train can transfer four movements to four components in arm and is consists parallel of four pairs of satellite gear trains. This study constructed the CNC wire bending machine with the developed gear train and verified that the gear train could drive internal components independently on arm rotation.

• 한국정밀공학회지
• /
• 제25권11호
• /
• pp.58-65
• /
• 2008

The study on dual arm robot manipulator which consists of two 6-DOF srms and one 2-DOF torso is introduced. This dual arm robot manipulator is designed for automation of assembly process in automotive manufacturing line. Each industrial 6-DOF arm can be used as a stand-alone type of industrial robot manipulator with 6-DOF and as a manipulator part of dual arm robot at the same lime. These structures help the robot maker willing to succeed in emerging market of dual arm robots have the high competitive power for the current industrial robot market and the emerging market of dual arm robot at the same time. The research results of the design concept, workspace analysis and the PC-based controller will be introduced.

• 한국안전학회지
• /
• 제22권3호
• /
• pp.1-6
• /
• 2007

In order to evaluate fatigue endurance for the rocker arm of a diesel engine, stress measurements were performed using the strain gages attached near the neck, where is one of the most critical region in the rocker arm, in variation of the engine speed. The fatigue life experiments were carried out on miniature specimens from the rocker arms. For evaluating the fatigue endurance of the rocker arm, the S-N data were compared with the stress analysis results through FEM analysis of the rocker arm. The effective stress of the neck region was determined 17.7MPa through FEM analysis of the rocker arm. Conclusively, on the basis of fatigue limit, the rocker arm has a safety factor of 2.8 or 3.4 from the stress measurement or FEM results, respectively.

• 한국정밀공학회지
• /
• 제24권6호
• /
• pp.78-85
• /
• 2007

In this study, we performed finite element analysis for the design of a medical centrifuge and two-types of centrifuge were compared with each other. The types of centrifuge are 2-arm straight type and 3-arm type. Structural analysis was done with respect to the change of the rotational speed of the rotor of a centrifuge. When the rotor of centrifuge was rotated, the von Mises stress of 2-arm straight type-rotor was compared with the von Mises stress of 3-arm type. The margin of safety was estimated from the result. We found the critical speed of centrifuge from the campbell diagram by modal analysis.

• 로봇학회논문지
• /
• 제17권2호
• /
• pp.164-171
• /
• 2022

Recently, interest of a dual arm robot which can replace humans is increasing in order to improve the working environment and solve the labor shortage. Various studies related with design and analysis of dual-arm robots have been conducted because dual arm robots can have various kinematic configurations according to the objective task. It is necessary to evaluate the work performance according to various kinematic structures of the dual arm robot to maximize its effectiveness. In the paper, the performance analysis is studied according to the shoulder configuration and the wrist configuration of the dual-arm robot by using main performance indices such as manipulability, condition number, and minimum singular value by assigning proper weight values to each objective motion. Performance analysis for the robotic assembly process is effectively carried out for each representative dual arm robot configuration.

• 복식
• /
• 제56권7호
• /
• pp.33-45
• /
• 2006

This study was to provide the fundamental data for a scientific and rational clothing construction by investigating the length variation of the upper arm surface, using the method of surgical tape, and to understand the expansion and contraction of parts of body for the making of clothing adaptable to movement. The subjects were li early elementary schoolgirls in Busan area classified with three somatotypes, and arm-movements consisted of 6 types. The statistical analyses used in this study were mean, standard deviation and the ANOVA and LSD procedure. The results of the analysis of the length of the upper arm surface are as follows: By arm-movements, in the items of horizontal, upper arm length changed more in the front than in the back, and in the items of vertical, represented the opposite of horizontal items. In the items of upper arm, the anterior-posterior axilla length and under arm length were influenced by arm-movements, and the under length of the upper arm represented the maximum rate increase of 74.59%(3.20cm)$\sim$138.72%(4.28cm). In the somatotypes of early elementary schoolgirls, type II was more influenced by arm-movements, and for the making of clothing adaptable to movement, type III needed to reflect more surplus length(2cm) than the other types.