• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.313-318
• /
• 2001

A haptic hand controller operated by the user's hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. This paper presents a design method for KU-HHC, 6 DOF Korea University-haptic hand controller, which allows separation of workspace from linkage mechanism in consideration of the efficient user operation. First, the 3 DOF mechanism in which all the actuators are mounted on the fixed base is developed by combining a 5-bar linkage and gimbal mechanism. Then, the 6 DOF HHC is designed by connecting the two 3 DOF devices through a handle. This paper presents the forward and inverse kinematics for this device and Jacobian analysis. Improvement of the kinematic characteristics using performance index is also discussed. The hand controller KU-HHC based on this design concept and kinematic analysis was manufactured and shows excellent performance.

• Journal of Biosystems Engineering
• /
• v.28 no.1
• /
• pp.19-26
• /
• 2003

An oscillating digger mechanism was designed, constructed. and tested. The mechanism is consisted of a six-bar linkage, one four-bar linkage was fer the digger blade and the other one fur variable soil-crop separation. Experimental variables were amplitude(3, 6, 9 mm). frequency(11.2, 14.9. 17.0 Hz), and forward speed of tractor(0.91, 1.13, 1.56 km/h). Each combination of these variables was replicated three times to measure the draft and torque for power requirement evaluation. and the broken-up soil height on the soil separation sieve mechanism. Four parameters λ(the ratio of vibration speed to forward velocity), p(the ratio of vibration acceleration to forward velocity), K(the ratio of vibration acceleration to gravitational acceleration), and T(the product of λ and K) were induced from three experimental variables: amplitude, frequency, and tractor speed. And the power requirement and soil separation ability were analyzed by regression. Though λ and K were known to be the representative parameters. T was the most moderate one to explain draft. torque. and soil separation in this study. It was estimated that the T equal to or greater than 2.4 was the minimum recommended value. Figure 18 would be useful fir the selection of amplitude. frequency, or operating tractor speed once any two variables are known.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.11a
• /
• pp.187-188
• /
• 2010

• Journal of Aerospace System Engineering
• /
• v.5 no.1
• /
• pp.1-6
• /
• 2011

It is very important to correctly set control surface linkage. But a lot of bad setting case has been seen in especially remote controled airplanes and middle size UAVs. In this paper, a three dimensional linkage from control surface to deflection sensor was analyzed kinematically and a position analysis was simulated using algebraic algorithm in terms of nonlinear error of deflection angle. Three correct settings of the linkage came out of this research. One is two-dimensional motion, another is link ratio of 1 and the other is that effective lever of the control surface should be perpendicular to a pushrod in their neutral position.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.16 no.5
• /
• pp.910-923
• /
• 1992

Experimental verification of numerical results is conducted by measuring the dynamic strains of mid-points of the coupler and the lever for the 4-bar linkage mechanism with rigid bearing and flexible bearing, respectively. For the axial strain of lever mid-point, the numerical results including geometric stiffness almost agree with the experimental ones, however, the numerical results excluding geometric stiffness almost agree with the experimental ones for the axial strain of coupler mid-point. It is supposed that these phenomena should be caused by the fact that the motion of the coupler is more complicated than of the lever. The signals of dynamic strains of coupler and lever mid-points, measured by strain gages, are transformed into frequency domain by fast fourier transformer. From this experiment, the lst resonance frequencies of the coupler and the lever are obtained. It is made clear that the former almost agrees with the fundamental and the latter the 2nd mode natural frequency of the mechanism system calculated by numerical analysis.

• The Journal of Korea Robotics Society
• /
• v.11 no.4
• /
• pp.193-204
• /
• 2016

This paper presents an anthropomorphic finger prosthesis for amputees whose proximal phalanx is mutilated. The finger prosthesis to be proposed is able to make the amputees to perform the natural motion such as flexion/extension as well as self-adaptive grasping motion as if normal human finger does. The mechanism of finger prosthesis with three degrees-of-freedom (DOFs) consists of two five-bar and one four-bar linkages. Two passive components composed of torsional spring and mechanical stopper and only one active joint are employed in order to realize an underactuation. Each passive component is installed into the five-bar linkage. In order to activate the finger prosthesis, it is required for the user to flex and extend the remaining proximal phalanx on the metacarpophalangeal (MCP) joint, not an electric motor. Thus the finger prosthesis conducts not only the natural motion according to his/her intention but also the grasping motion through the deformation of springs by the object for human finger-like behavior. In order to reveal the operation principle of the proposed mechanism, kinematic analysis is performed for the linkage design. Finally both simulations and experiments are conducted in order to reveal the design feasibility of the proposed finger mechanism.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2014.04a
• /
• pp.502-503
• /
• 2014

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.4 s.175
• /
• pp.881-893
• /
• 2000

An analytical synthesis technique for offset slider-rocker 4-bar linkages is devised where transmission angles are used as essential synthesis parameters. Finding the location where both the maximum and the minimum transmission angles arise leads to establishing the algorithm for limiting transmission angles of the slider-rocker linkage which has different offsets according to the direction of the slider. Position analysis by the algorithm gives formula for the dimensional synthesis for the linkage. Application to examples shows that the algorithm and the formula yield proper slider-rocker linkages with regard to limiting transmission angles to the maximum value.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.10a
• /
• pp.180-185
• /
• 2004

Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.

• Journal of the Korean Society for Precision Engineering
• /
• v.28 no.7
• /
• pp.851-858
• /
• 2011

Nanopositioning technologies play an important role in the progress of electronics, optics, bio-engineering and various nano-scale technologies. As a result, various practical nanopositioning methods have been successfully introduced. Flexure mechanism is a valuable method in nanopositioning because of smooth and friction-free motion and the infinitesimal movement near to sub-nm. In this study a modularized nanopositioner based on parallelogram four-bar linkage structure with right-circular flexure hinge was developed. The positioning performance of a single axis nanopositioner and a XY nanopositioner which was extended from single axis one were demonstrated using control experiments. Consequently, it was shown that the developed single axis nanopositioner possessed high performance and could be extended to various multi-axis nanopositioners.