• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.105.6-105
• /
• 2002

Contents 1We developed a new type of lower part of the human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch Joints and one roll joint. In all, a 8 degree-of-freedom robot was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has an embeded controller system including host computer, batteries and motor drivers. In the performance test, we had basic stable walking data so far, but we f...

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2000년도 추계학술대회 논문집
• /
• pp.114-117
• /
• 2000

We developed a motion capture system to get angle data of human joints in walking mode. The data are used to coordinate the biped-walking robot developed in our laboratory. A pair of motion capture system is composed of three links with the ankle, knee, and pelvis joints. The system has six axes attached with potentiometers. We used an A/D converter was used to get digital data from joint angles. We filterd the data using the Butterworth 4th order digital filter, and simulated walking motion based on the data using the Matlab.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 추계학술대회 논문집
• /
• pp.458-461
• /
• 1997

We have developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gar ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. For the purpose of autonomous walking and higher performance, we improved the previous developed BWR. We improved the motor drive efficiency, designed the ball screw actuator in a modular type, and simplified the electric wires. Through this modification, we achieved better performance in walking.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.267-267
• /
• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR peformed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• 항공우주시스템공학회지
• /
• 제5권1호
• /
• 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.

• 한국농업기계학회:학술대회논문집
• /
• 한국농업기계학회 1993년도 Proceedings of International Conference for Agricultural Machinery and Process Engineering
• /
• pp.734-743
• /
• 1993

The performances of three same type of vibrating potato diggers were estimated by observing the potato separation and material flow on the bottom plate. Four-bar mechanism were adopted for three diggers and pairs of eccentric cams on both sides of driving shaft were used as driving link of the diggers. Each machine was tested with different amplitudes , frequencies, and travels speeds. Blade performance were observed in three categories : Impossible forward travel , acceptable operation, and unsatisfactory potato digging , but good material flow. Three parameters were used to set marginal values that enable the machines operate for potato digging, and the parameters were compared to select best one. Three parameters are λ, $\rho$, and K.λ is the ratio of vibrating speed to travel speed, $\rho$ is the ratio of blade acceleration to travel speed, and K is the ratio of blade acceleration to gravitational acceleration. K value of 2 or more is suggested to be used as design and evalu tion criterion of the vibrating digger.

• 한국정밀공학회지
• /
• 제30권10호
• /
• pp.1023-1029
• /
• 2013

Water running animals such as basilisk lizards have an advantage of high-speed movement and high power efficiency on water; so researchers in robotic fields have been interested in the water running locomotion. This paper presents prototype-design and experimental study on the fourand six-legged water running robot. Based on the previously proposed quadruped water running robot, we assemble a hexapedal water running robot. The legs of the water running robot are designed based on four-bar parallel link for repeated motion along to pre-defined path. Stability performance of the quadruped and hexapedal water running robot are investigated by experiments on rolling criterion. As a result, hexapedal robot performs better stability than quadruped robot. Based on the hexapedal robot design, we are planning to optimize the position of legs and operating frequency.

• 한국기계가공학회지
• /
• 제20권9호
• /
• pp.42-47
• /
• 2021

A one-touch descending lifeline that can easily be installed and rapidly evacuated in the event of a fire accident in high-rise buildings was proposed to overcome difficulties of conventional descending lifeline such as complex installation methods and procedures. However, this lifeline exhibits limitations such as restrictions in installation location and large apparatus size. Therefore, this paper proposes a sliding-type descending lifeline, which has a similar operation to that of current one-touch descending lifeline and solves the aforementioned limitations. A double square link mechanism including a sliding four-bar linkage is proposed and the descending lifeline support is redesigned to unfold in two different planes, allowing 3D movement. Additionally, the shape of the support frame is designed to obtain two attachment surfaces that can be attached to a wall, irrespective of the angle between the window and the inner wall. FEA analysis using ABAQUS is performed to ensure that the robustness of the presented support complies with the Fire Control Act Enforcement Decree. Finally, the feasibility of the proposed sliding one-touch descending lifeline is verified through fabrication.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
• /
• 제6권2호
• /
• pp.244-253
• /
• 2000

병렬 컴퓨터의 메시지 전달에서 응용에 관계없이 일반적으로 우수한 경로 지정 및 스위칭 정책은 존재하지 않으므로, 사용자가 응용에 따라서 정책을 변경할 수 있게 하는 것이 바람직하다. 본 논문에서는 마이크로프로세서 구조에 기초한 경로 지정 엔진과는 달리, 성능의 감소 없이 융통성 있는 경로 지정과 스위칭 기능을 수행할 수 있는 조견표(look-up table) 경로 지정 엔진의 구현에 대하여 기술한다. 제안된 경로 지정 엔진은 조견표의 내용을 바꿈으로써 웜홀(wormhole), 가상 컷스루우(virtual cut-through) 및 패킷 스위칭(packet switching) 등은 물론, 다양한 경로 지정 알고리즘의 혼성(hybride)스위칭을 구현할 수 있다. 경로 지정 엔진의 조견표는 파이프라인 구조로 되어 있어, 하나의 플릿(flit) 정도의 저 지연을 가지므로, 단일 경로 지정 및 스위칭 정책을 하드와이어(hardwired)로 구현한 경우 보다 큰 성능의 감소 없이 다중의 경로 지정 동작을 중첩할 수 있다. 제안된 4개의 파이프 라인단은 해저드(hazard)를 일으키지 않으므로, 고 비용의 포워딩(forwarding) 회로가 필요 없다. 경로 지정 엔진은 시간공유의 컷스루우 버스나 크로스바(crossbar) 스위치를 갖는 단일 경로로 되어 있는 4개의 물리적 경로를수용할 수 있다. 제안된 경로 지정 엔진은 Xilinx 4000XL 시리즈 FPGA를 사용하여 구현되었다.

• 재활복지공학회논문지
• /
• 제10권2호
• /
• pp.133-139
• /
• 2016

전동휠체어는 장애인들이 편리하게 이동할 수 있는 이동수단이다. 하지만 전동휠체어를 사용하다가 전복되는 사고가 매년 증가하고 있다. 현재 전동휠체어 관련한 KS P 7176 규격에는 동적안전성 시험항목이 있지만 이는 전동휠체어의 안전성을 확보하지 못하였다. 본 연구에서는 새롭게 개발한 장애인 차량에 적재 가능한 접이식 전동휠체어를 소개하고 본 휠체어를 기본으로 주행 중 동적 전도해석 기법에 관한 내용을 소개하고자 한다. 전도해석은 force-moment 안정성 측정법을 사용하였으며 회전반경, 가속도, 무게중심점에 대한 영향을 평가하였다. 본 해석 방법으로 전동휠체어의 안정성을 확보할 수 있으며 동적 안정성 평가 항목 개발에 기초자료로 제공할 수 있다.