• Proceedings of the KSME Conference
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• 2004.11a
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• pp.766-771
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• 2004

In this paper, new exploration mobile robot is presented. This mobile robot, called Robhaz-6W, is able to overcome hazardous terrains, recognize three dimensional terrain information and generate a path toward the destination by itself. We develop the passive four bar linkage mechanism adoptable to such terrain without any active control and the real time stereo vision system for obstacle avoidance, a remote control and a path planning method. And the geometrical information is transmitted to the operator in the remote site via wireless LAN equipment. And finally, experimental results for the passive mechanism, the real time stereo vision system, the path planning are reported, which show the versatility of the proposed mobile robot system to carry out some tasks.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.6
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• pp.537-545
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• 2010

This study presents a method to evaluate overturning safety and derailment safety of korean tilting train using kinematic analysis of four-bar linkage tilting mechanism. The safety is evaluated considering tilting vehicle body CG displacement. The design sensitivity for stable and safe maximum speed is evaluated around current korean tilting train design data. The current design shows minimum center of gravity displacement. Higher speed can be achieved with larger center of gravity displacement.

• The Journal of Korea Robotics Society
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• v.10 no.3
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• pp.162-170
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• 2015

This paper describes the development of a hand module of NREX (National Rehabilitation Center Robotic Exoskeleton) designed to assist individuals with sustained neurological impairments such as stroke and spinal cord injuries. To construct a simple and lightweight hand module, the robotic hand adopts a mechanism driven by a motor and moved by two four-bar linkages. The motor facilitates the flexion-extension movements of the thumb and the other four fingers simultaneously. Thus, an individual using the robotic hand module can effectively grip and release objects related to daily life activities. The robotic hand module has been designed to cover the range of motion with respect to its link distance. This hand module can be used in therapeutic rehabilitation as well as for daily life assistance. In addition, this hand module can either be mounted on an NREX or used as a standalone module.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.1
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• pp.62-69
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• 2008

A specialized anthropomorphic robot hand which can be attached to the biped humanoid robot MAHRU-R in KIST, has been developed. This built-in type hand consists of three fingers and a thumb with total four DOF(Degrees of Freedom) where the finger mechanism is well designed for grasping typical objects stably in human's daily activities such as sphere and cylinder shaped objects. The restriction of possible motions and the limitation of grasping objects arising from the reduction of DOF can be overcome by reflecting a typical human finger's motion profile to the design procedure. As a result, the developed hand can imitate not only human hand's shape but also its motion in a compact and efficient manner. Also this novel robot hand can perform various human hand gestures naturally and grasp normal objects with both power and precision grasping capability.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.12 s.177
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• pp.108-116
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• 2005

Transplanting accuracy of a rice transplanter mainly depends on the trajectory of the hoe for picking, conveying and transplanting of seedlings as well as the return motion. The trajectory can be decided and prescribed to be suitable in treating seedlings fur a prevailing soil condition. For the purpose of the transplanting accuracy, the design of a transplanting mechanism would be carried out using a planetary-gear-train system instead of the four bar linkage system. In this study, a design method of transplanting mechanism is theoretically proposed by synthesizing a noncircular planetary-gear-train system fur the tool (hoe) to trace a prescribed trajectory. The method utilizes an optimization approach to decide the lengths of an arm and a tool, the inverse kinematics to figure out the configuration angles of the two links, the roll contact condition in transmitting motion between the gears, and a linearization approach to obtain the shapes of the gears. Based on the proposed method, the shapes of the gears and the lengths of the tools of the planetary-gear-train system are determined fur three prescribed trajectories. A kinematical simulation with a commercialized package program is also carried out to confirm that the gear-train system synthesized with the proposed method is able to trace the prescribed trajectory.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.12
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• pp.1585-1591
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• 2011

In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger. The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-coupling mechanism. In addition, the transmission ratio of the finger module is maintained at 1:1.4:1 over the entire movement range, and hence, the module can perform both extension and flexion. In addition, to enable adduction/abduction motion of the human hand, a unique MCP joint is designed by using two universal joints. To validate the feasibility of the data glove, master-slave control experiments based on force-position control between the data glove and the robot hand are conducted.

• Journal of the KSME
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• v.20 no.1
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• pp.64-66
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• 1980

전자업계에서는 그동안 LSI(Large Scale Integrated Circuit), Microprocessor등의 괄목한 개발로 각종 생산공장, 의료기구등의 측정, 가공, 제어 및 계산의 자동화를 가속 시켜주고 있으며 이러한 컴퓨터기능의 범용화로 우리 생활면에도 많은 변화를 가져오고 있다. 계산기의 대중보급화로 계산자(Slide Rule)가 없어지고 조그마한 계산기가 프로그램의 능력을 가짐으로서 통계는 물론, 수학에서는 편미분 방정식 까지도 쉽게 처리해 주며, 기계분야에서는 Beam의 계산, 사절기 구(Four Bar Mechanism)등도 쉽게 풀어주고 있다. 또한 토목분야 에서는 과거 숙달된 측정기 사에 의존하던 지형의 정밀측정이 측정의 자동화로 측정치가 정확하게 읽혀지고 있지만, 반면 아쉬운 점이라면 정밀측정사에 의존하던 정밀도등이 장비의 정밀도에 의존해 가는 경향도 무시 될 수 없겠다. 또한 안과에서는 과거에 시력측정표를 일정거리에 떨어져서 측정하던 시력검사가 이제는 기계를 안구에 대고 자동측정 하게 된 점 등 다 나열 할 수 없게된 현실이다. 그러면 우리 기술인 주변에는 어떠한 면들이 바뀌었는가, 우선 생산 Line의 자동화, 설계자체도 컴퓨터를 이용하는 많은 여건상의 변화가 일어나고 있다. 여기서 선진국등의 현황과 더불어 우리의 여건 진로 방향등을 잠시 고찰해 보고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.105.6-105
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• 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...

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.1
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• pp.112-119
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• 2001

Design sensitivity is an important is an important device in improving a mechanical system design. A continuum design consists of the shape and orientation design. This research develops the shape and orientation design sensitivity method. The configura-tion design variables of multibody systems define the shape and orientation changes. The equations of motion are directly differentiated to obtain the governing equations for the design sensitivity. The governing equation of the design sensitivity is formulated as an over determined differential algebraic equation and treated as ordinary differential equations on mani-folds. The material derivative of a domain functional is performed to obtain the sensitivity due to shape and orientation changes. The configuration design sensitivities of a fly-ball governor system and a spatial four bar mechanism are obtained using the proposed method and are validated against those obtained from the finite difference method.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.422-427
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• 2001

The component mode synthesis method allows the elastic deformation of each component in the flexible multibody system by a sum of modes and modal coordinates. This paper focuses on the selection of boundary conditions and deformation modes for redundantly constrained flexible components in mechanical system dynamics. The result of a flexible body dynamic analysis with only normal modes is used to identify proper boundary conditions of a static modes and a desired set of static modes which will be used in the final model. A simple four bar mechanism is used to explain the procedure and a space satellite with solar panels is analyzed using the proposed method.