• 대한기계학회논문집A
• /
• 제37권10호
• /
• pp.1195-1200
• /
• 2013

최근에 들어 로봇과 환경 사이의 상호작용이 다양하게 발생하는 작업에서 가변 강성 액추에이터의 연구가 활발하다. 기존의 다양한 가변 강성 액추에이터가 개발되었지만 크기와 중량 때문에 응용분야를 찾기가 어렵다. 따라서 다양한 분야에 쉽게 이용되기 위해 소형의 가변 강성 액추에이터(miniVSA)를 개발하였다. miniVSA는 모멘트 암 기반의 강성제어 장치와 두 개의 모터로 구성된 구동 장치로 구성된다. 강성제어 장치는 두 캠의 상대 운동을 제어하여 위치와 강성을 동시에 제어할 수 있다. 이를 실험을 통하여 강성 변화를 검증하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.531-534
• /
• 1996

In this work, we investigate the characteristics of output compliance matrix of a planar 3 degree-of-freedom parallel mechanism when joint compliances are attached to the mechanism redundantly. It is shown by simulation that by attaching redundant joint compliances symmetrically to the mechanism, the translational and rotational compliances can be arbitrarily modulated within some ranges. This property could be effectively used in the control of the compliance characteristics of actively adjustable RCC devices.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2007년도 추계학술대회 논문집
• /
• pp.1012-1017
• /
• 2007

To reduce the cost and the time of transport in Eurasian railroad networks such as TKR(Trans-Korea Railway), TCR(Trans-China Railway) and TSR(Trans-Siberia Railway) owing to the problem of different track gauges (narrow/standard/broad gauge), it is important to develop the gauge - adjustable wheelset system to adapt easily to these gauges. Moreover, this system accomplishes periodically a conversion operation from the gauge variable segment between different gauge. Gauge adjustable compression coil spring during conversion process accomplishes repetitively a central role for operation mechanism between flange and locking part. Therefore, to assure the safety of the gauge-adjustment wheelset system, it is necessary to stress analysis of the optimized spring in the system. In this study, it was performed to optimal design of the spring for stress analysis by using the genetic algorithm.

• 드라이브 ㆍ 컨트롤
• /
• 제18권4호
• /
• pp.19-27
• /
• 2021

A bunker bed is a type of furniture that efficiently utilizes a narrow indoor space by having a high bed and using the empty space below as a living and storage space. The demand for multi-purpose furniture is increasing due to the recent increase in single-person households and wide-spread shared accommodation. According to the consumer research, one of the major drawbacks of a bunker bed was to get on and off the bed through a ladder or stairs. In order to overcome these problems, it was confirmed that the height adjustment function that can easily adjust the minimum and maximum heights of the bed was necessary. In this study, a height adjustable bunker bed was designed by using a gas spring that generates a repulsive force by the compressed gas inside. The design process consisted of the following three steps: Firstly, the hysteresis characteristics due to a friction and spring constant of a commercial gas spring were confirmed by measuring the repulsive force vs. compressed displacement. Secondly, requirements of the vertical lifting force exerted on the bed against gravity force were derived. Finally, the height-adjustable bed using the four-bar link mechanism was designed with 4 parameters so that the bed weight of 60-70 kgf could be adjusted to 800 mm in height by an affordable initial operation force. The performance was verified through prototype production and the results of vertical displacement and force to move were nearly the same as designed. In addition, an electrically operated height-adjustable bed was also designed with linear actuators and the performance was proved with the prototype.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
• /
• pp.1382-1385
• /
• 1993

In order to improve productivity, an intelligent control system is presented in the pater. In this intelligent control system, a feedforward neural network and a fuzzy feedback mechanism are adopted to achieve a constant milling force with an adjustable feedrate under a variety of cutting conditions in milling operations.

• 전자공학회논문지B
• /
• 제33B권6호
• /
• pp.23-33
• /
• 1996

NUMA(Non-Uniform Memory Access)구조의 공유 메모리 다중처리기 시스템에서 참조 국지성의 활용은 병렬 처리의 성능에 큰 영항을 미친다. 본 논문에서는 운영체제가 참조 국지성을 관리하는데 도움을 주기위한 개선된 하드웨어 메모리 참조 카운터를 제시한다. 제신된 참조 카운터 방식에서는 기존의 참조 카운터들과는 달리 운영체제의 페이지 복사 정책을 다양한 메모리 참조 패턴에 적응시키기 위해 카운터의 값이 동적으로 그리고 주기적으로 조정된다. 우리는 실제 병렬 응용 프로그램들을 사용한 실행 구동형 시뮬레이션을 통해 제시된 "조정가능한 지연 카운터"가 이들의 성능에 미치는 영향을 평가하였다. 이 성능평가를 통해 '조정가능한 자연 카운터"를 이용한 메모리 복사 정책이 기존의 카운터를 이용한 정책보다 나은 성능을 보인다는 것과 시뮬레이션에 사용된 대부분의 병렬 응용 프로그램에 대해 고른 성능을 나타낸다는 것을 확인하였다.

• 한국군사과학기술학회지
• /
• 제21권3호
• /
• pp.331-341
• /
• 2018

This study proposes an integrated serial spring-damper mechanism as a dual pulse generation system. Compared to the traditional dual pulse generation system, which used multiple springs and a damper to generate a dual pulse critical for impact testing of naval equipments, currently used separated serial spring-damper mechanism is comprised of two components: an air spring, and a damper. The proposed mechanism combines the two components into one integrated system with a unique design that lets simply changing the volume and the pressure of the air tank, and the length of the annular pipe adjust the stiffness and damping constants for testing, eliminating the need to have multiple sets of air springs and dampers. Simulations using MatLab and Simulink were conducted to verify the feasibility of this design. The results show the potential of an integrated serial spring-damper mechanism as a more convenient and flexible mechanism for dual pulse generation system.

• 한국정밀공학회지
• /
• 제29권11호
• /
• pp.1207-1213
• /
• 2012

Typically commercial controllers do not give data of the controller gains. Therefore, it is very hard to determine the optimal controller gain even though the dynamic model is derived. In this case, design of experiment (DOE) methodology can be a powerful tool for gain tuning. In this research, gain tuning process is proposed based on the DOE. Micro parallel mechanism platform with 3 degrees-of-freedom (DOF) is used for the experiments. Controller gains are measured indirectly from the voltages of adjustable resistors. The controller gains of three actuators are optimized by two or three steps, respectively. The correlations of the controller gains are also analyzed. The process and methodology can be adopted in gain tuning of other mechanical systems.

• 전력전자학회:학술대회논문집
• /
• 전력전자학회 2003년도 춘계전력전자학술대회 논문집(2)
• /
• pp.856-859
• /
• 2003

The switched reluctance motor(SRM) drive system provides a good adjustable speed and torque characteristics. However, because of the torque production mechanism, it also has some disadvantage such as higher torque ripple and fluctuation in speed. To reduce torque ripple and to control speed precisely, digital signal processor(BSP) is adopted. The DSP TMS320F241 was used to be realized this drive system. Test results show that the suggested control system has the ability of dynamic and precise speed control.

• 한국구조물진단유지관리공학회 논문집
• /
• 제22권4호
• /
• pp.42-51
• /
• 2018

해상풍력 지지구조물은 설치과정에서 수직도 오차가 발생하여 풍력발전기 전체 구조의 안전성이 저하될 수 있다. 따라서, 본 논문에서는 콘크리트 중력식 해상풍력 연결부에서 PS 앵커와 앵커체결구 그라우트를 사용하여 수직도를 조정할 수 있는 방안에 대한 연구를 수행하였다. 연결부는 5MW급 해상풍력 지지구조물에서 발생한 수직도 오차를 최대 $0.5^{\circ}$까지 보정하는 것을 목표로 하였다. 우선, 수직도 조정이 가능한 해상풍력 연결부에 대해 주요 부재별 설계안과 설계절차를 제안하고, 제주도 해상지역을 대상으로 설계 제원을 산출하였다. 그 후, 설계 제원에 대해 비선형 3차원 유한요소해석을 수행하여 설계안의 적정성을 검토하였다. 검토 결과, 하중 전달 메커니즘과 연결부 발생 응력 확인을 통해 제안 설계안은 $0.5^{\circ}$의 수직도 오차를 보정하여도 안전하다고 판단하였다.