• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.22 no.4
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• pp.393-400
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• 2012

This paper deals with a development of 2-DOF flutter experiment equipment which represents a 2-DOF typical section model. For a conventional 2-DOF flutter experiment equipment, it is hard to observe flutter boundary clearly due to the complexity of the experiment equipment. To refine our flutter experiment equipment system, a compliant mechanism based torsional spring is used. Well-designed extruded aluminum pipe works as a torsional spring. SolidWorks and ANSYS are used for modeling, analysis and design of the torsional spring. With this designed torsional spring, the 2-DOF flutter experiment equipment is developed and wind tunnel tests are performed. Clear flutter boundary which is estimated by classical flutter analysis is observed in the experiments.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.429-434
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• 2012

This paper deals with a development of 2-DOF flutter experiment equipment which represents a 2-DOF typical section model. For a conventional 2-DOF flutter experiment equipment, it is hard to observe flutter boundary clearly due to the complexity of the experiment equipment. To refine our flutter experiment equipment system, a compliant mechanism based torsional spring is used. Well-designed extruded aluminum pipe works as a torsional spring. SolidWorks and ANSYS are used for modeling, analysis and design of the torsional spring. With this designed torsional spring, the 2-DOF flutter experiment equipment is developed and wind tunnel tests are performed. Clear flutter boundary which is estimated by classical flutter analysis is observed in the experiments.

• Journal of Mechanical Science and Technology
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• v.19 no.10
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• pp.1835-1845
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• 2005

In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magneto-rheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.76-82
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• 2012

In this study, we aim to develop energy efficient walking and running robot with compliant leg. So, we propose the energy efficient locomotion control method. And, we experiment the proposed control method applying to the experimental robot with compliant leg. From the experiment, we look at whether the proposed control method can the robot walk and run energy efficiently.

• Structural Engineering and Mechanics
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• v.82 no.4
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• pp.503-515
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• 2022

The multi-rigid-body matrix method (MRBMM) is a generalized modeling method for obtaining the displacements, forces, and dynamic characteristics of a compliant mechanism without performing inner-force analysis. The method discretizes a compliant mechanism of any type into flexure hinges and rigid bodies by implementing a multi-body mass-spring model using coordinate transformations in a matrix form. However, in this method, the deformations of bodies that are assumed to be rigid are inherently omitted. Consequently, it may yield erroneous results in certain mechanisms. In this paper, we present a multi-compliant-body matrix-method (MCBMM) that considers a rigid body as a compliant element, while retaining the generalized framework of the MRBMM. In the MCBMM, a rigid body in the MRBMM is segmented into a certain number of body nodes and flexure hinges. The proposed method was verified using two examples: the first (an XY positioning stage) demonstrated that the MCBMM outperforms the MRBMM in estimating the static deformation and dynamic mode. In the second example (a bridge-type displacement amplification mechanism), the MCBMM estimated the displacement amplification ratio more accurately than several previously proposed modeling methods.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.213-214
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.2-119
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• 2002

In this paper a passive compliant joint (PCJ) for human-friendly service robots is presented. The PCJ is composed of a magneto-rheological damper and a spring for elasticity. In the magneto-rheological damper, a braking force proportional to the electric current is generated. It works as a viscous damper by controlling the electric current according to the angular velocity of spring displacement. The compliance property and position control of the PCJ are verified through experiments and simulations to a single DOF simple arm with the PCJ.

• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.26-32
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• 2016

A variable release torque-based compliance spring-clutch (VCSC) is presented. VCSC is a safe joint to reduce the impact of collisions between humans and robots. It is composed of four functional plates, balls, springs to make some functions in compliant movement, release mechanism, gravity compensation during its work. Also, it can estimate torque applied to a joint by using distance sensor and parameters of cam profile. The measured variable torque of prototype is 4.3~7.6 Nm and release torque is 4.3 Nm. In our future studies, a calibration for torque estimation will be conducted.

• Tribology and Lubricants
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• v.38 no.1
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• pp.27-31
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• 2022

Harmonic drives have attracted increasing attention with the development of materials, parts, and related equipment. Harmonic drives exhibit high deceleration, high accuracy, and light weight. The stiffness of flexible splines according to the radial load is studied using a commercial FEM program to design the structure of the flexible spline and finite element to improve the weight and price competitiveness of harmonic drives. In addition, several studies have measured and compared friction coefficients based on 3D printed tread patterns. However, owing to the characteristics of plastic materials, a decrease in stiffness in the radial direction is inevitable. To prevent a decrease in stiffness in the radial direction, we designed and manufactured flex splines with a wrinkle shape. Through structural analysis, the reaction force and stiffness in the radial direction were determined. In addition, the maximum angle of the mound was derived by theoretical calculations, and the performance of the harmonic drive was compared with the results obtained in the mound experiment. Structural analysis shows that the shape of wrinkles decreased the stress and reaction force and increased the safety factor in comparison with that of the circular shape. During performance verification through continuous experiments, the developed harmonic drive showed continuous performance similar to that of an actual tank model. It is expected that the flex spline with a compliant spring and wrinkle shape will prevent a decrease in the radial stiffness.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.2
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• pp.203-209
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• 2004

Compliant bi-stable mechanism allows two stable states within its operation range staying at one of the local minimum states of the potential energy. Energy storage characteristics of the bi-stable mechanism offer two distinct and repeatable stable states, which require no power input to maintain it at each stable state. This paper suggests an equivalent model of the chevron-type bi-stable microactuator using the equivalent spring stiffness in the rectilinear and the rotational directions. From this model the range of spring stiffness where the bi-stable mechanism can be operated is analyzed and compared with the results of the FEA (Finite Element Analysis) using ANSYS for the buckling analysis, both of which show a good agreement. Based on the analysis, a newly designed chevron-type bi-stable MEMS actuator using hinges is suggested for the latch-up operation. It is found that the experimental response characteristics of around 36V for the bi-stable actuation for the 60$mu extrm{m}$ stroke correspond very well to the results of the equivalent model analysis after the change in cross-sectional area by the fabrication process is taken into account. Together with the resonance frequency experiment where 1760Hz is measured, it is shown that the chevron-type bi-stable MEMS actuator using hinges is applicable to the optical switch as an actuator.