• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.384-388
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• 2016

This paper proposed a m.Sketch to search the optimal link lengths for a legged walking robot. In order to apply the m.Sketch for the proposed, set the design parameters of the constraints and use the m.Skecth to get optimal GL(Groud Length) and GAC(Ground Angle Coefficient). The legged robot designed based on four-bar linkage theory and Theo Jansen mechanism. The stride length of the legged walking robot was defined based on the proposed kinematic analysis. Use the Edison Design m.Sketch simulate and find the optimal link length having the best of the Ground Length (GL) and Ground Angle Coefficient(GAC). And use these length implemented the Theo Jansen mechanism both in Science box parts and acrylic. In addition to the further expansion of the legs to reach the goaltranslating heavy objects or person.

• 문화기술의 융합
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• 제9권1호
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• pp.525-530
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• 2023

2단 행거는 공간 활용도가 높고 설치가 쉬운 장점으로 인해 많은 가정에서 사용되고 있지만 사용 시 높이 조절이 불가능해 사용자가 상단봉에 걸려있는 옷을 내리기에 많은 어려움이 있다. 따라서 본 논문에서는 기존 2단 행거의 기능 및 장점은 유지하면서 사용자가 의류를 손쉽게 걸거나 꺼낼 수 있는 새로운 형태의 2단 행거 형상을 제안한다. 한 번의 동작으로 상단봉이 사용에 편리한 높이까지 내려올 수 있도록 적절한 링크기구를 설계하였으며 높이 조절 시 상/하단 의류가 겹치지 않도록 상/하단봉의 움직임을 입체형으로 구현하였다. 또한 상단봉이 내려올 때 행거가 넘어지지 않으면서 사용 후 고정이 해제되어 원래의 높이로 올라갈 수 있는 적절한 링크 길이와 조인트 위치 및 구속 조건을 선정하였으며 사용자의 안전을 위해 가스 스프링을 추가하여 하강 및 상승 속도를 조절하였다. 높이 조절시 옷의 하중을 지탱할 수 있도록 FEA 해석을 통해 개선 형상에 대한 안정성을 검증하였으며 실제 제작을 통해 입체형 높이 조절 행거의 작동 여부를 확인하였다.

• 로봇학회논문지
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• 제12권2호
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• pp.107-115
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• 2017

In this paper, four-bar linkage mechanism for the knee joint is developed which is used in prosthetics. But unlike the prosthetics, the feature of this mechanism is that the instantaneous center of rotation of the four-bar linkages can be moved behind the ground reaction force vector so that it can be passively supported without any external power. In addition, this mechanism is developed similar to the structure of the human knee joint for eliminating the sense of heterogeneity of the wearer. In order to design the mechanism with these two objectives, optimization design process is done using the PIAnO tool and detailed design is carried out through optimized variable values. The developed mechanism is attached to the robot which can assist the hip and ankle joints. In order to verify the operation of the developed knee mechanism, an insole type sensor was attached to the shoes to compare data values before and after wearing the robot. Result data showed that wearer wearing the exoskeleton robot with the knee mechanism was the same value regardless of whether the heavy tool is loaded or not.

• Journal of Biosystems Engineering
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• 제8권2호
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• pp.26-38
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• 1983

Binder harvesters introduced to Korea were originally designed to be used for Japonica varieties which are highly resistant to shattering. In order to improve the performance of the binder to Indica varieties which are easily shattered and have shorter stem, mechanical modifications of the binder are inevitable. Shattering losses of the binder can be classified into two major parts; one incurred before and one after binding operations. The latter has been evaluated as great as the former. Previous studies indicated that the high discharge losses resulted from a great impact force of the discharge arm on the rice bundle during the discharge process. This study was intended to theoretically analyze the discharge mechanism of four-bar linkage. For this purpose, two commercially available binder harvesters having a four-bar linkage as a discharge mechanism were analyzed. Using the results from the motion analysis and the other structural constraints of the machines, they were modified and experimentally compared with the machines without modification to see whether any decrease in grain losses was obtained. The results obtained in this study are summarized as follows: 1. The path, velocity and acceleration of discharge arm were computer analyzed by vector analysis. Using results of the analysis and intrinsic constraints of the binder, discharge mechanism was modified to reduce the impact force on bundle by discharge arm in the range where the discharge performance was not deteriorated. This modification of the discharge mechanism could be done with an aid of four-bar linkage synthesis technique. As a result, average velocity and acceleration of the discharge arm during the discharge process were reduced respectively by 19 percent and 33 percent for binder A, and 17 percent and 35 percent for binder B. 2. Through the modification of the discharge mechanism, discharge losses of binder A were reduced by 42-56 percent for Milyang 23, Poongsan and Hangang chal, and discharge losses of binder B were reduced by 13-20 percent for Milyang 23 and Poongsan. 3. Discharge losses were decreased as the bundle size became larger and the size effect on the decrease rate appeared more significant in the binders with modifications than in those without modifications.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.1045-1046
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• 2012

• 한국항공운항학회:학술대회논문집
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• 한국항공운항학회 2006년도 추계학술대회 논문집
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• pp.107-110
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• 2006

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.755-756
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• 2010

• 대한기계학회논문집A
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• 제27권1호
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• pp.18-25
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• 2003

A haptic hand controller (HHC) 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. In this paper, a 3-DOF hand controller is first presented, in which all the actuators are mounted on the fixed base by combining a 5-bar linkage and a gimbal mechanism. The 6-DOF HHC is then designed by connecting these two 3-DOF devices through a handle which consists of a screw and nut. Analysis using performance index is carried out to determine the dimensions of the device. The HHC control system consists of the high-level controller for kinematic and static analysis and the low-level controller for position sensing and motor control. The HHC used as a user interface to control the mobile robot in the virtual environment is given as a simple application.

• 대한기계학회논문집A
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• 제20권5호
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• pp.1508-1515
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• 1996

The method of utilizing sensitivity linkages for the analysis of mechanical errors are proposed. As sources of the mechanical error, tolerances in the link length and clearances in thejoints are considered. It is demonstrated that the problem of calculating mechanical errors of a 4-bar mechanism can be transformed into a problem of conventeional velocity analysis of a sensitivity linkage. As a result of the present study, it is found and proved that the mechanical error of the output angle in the 4-Bar mechaism is represented as a simple harmonic function with respect to the relative position of the pin on the clearance circle. Also the vector representing the mechanical error of a coupler point makes, in general, an ellipse as the relative angle varies on the clearance circle. With these results we can better identify the characteristic of the mechanical errors in linkages.

• 한국지능시스템학회논문지
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• 제21권2호
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• pp.159-164
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• 2011

본 연구에서는 4절 링크 이론(four-bar linkage mechanism)과 얀센 메커니즘(Jansen mechanism)을 기반으로 다관절 보행 로봇(multi-legged walking robot)인 게(crab) 로봇을 제작하고, 게 로봇의 움직임에 대하여 기구학적인 해석을 제시한다. 제작된 게 로봇은 영상 획득을 위하여 카메라를 장착하였고, 장애물 회피를 위하여 3조의 초음파 센서를 가지고 있다. 또한 RF통신으로 외부에 영상 정보를 전달하며, Blue-tooth 통신 모듈을 장착하여 외부로부터 부여된 임무를 수행할 수 있다. 게 로봇의 설계와 제작을 하기 위해서 필요로 하는, 로봇 다리의 움직임을 알기 위해서는 관절 변수와 다리 끝단의 위치 및 자세와의 관계를 얻어야 한다. 따라서, 제안된 기구학적 해석은 로봇의 설계와 제작에 있어서 많은 도움을 주며 중요한 과정이다.