• 한국정밀공학회지
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• 제22권11호
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• pp.72-81
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• 2005

A new spherical-type 3-degree-of-freedom parallel mechanism consisting of a two degree-of-freedom parallel module and a serial module is proposed. Two alternative designs for the serial sub-chain are suggested and compared. The first design employs RU joint arrangement for the serial sub chain structure. The second design incorporates a gear chain to drive the distal revolute joint of the serial sub-chain from the base platform of the mechanism. This modification significantly improves kinematic characteristics of the mechanism within its workspace. Firstly, the closed-form solutions of both the forward and the reverse position analysis are derived. Secondly, the first-order kinematic model with respect to three inputs which are located at the base is derived. Thirdly, it is confirmed through simulation that the modified mechanism has much more improved isotropic characteristic throughout the workspace of the mechanism. Lastly, the proposed mechanism is implemented to verify the results from this analysis.

• 대한산업공학회지
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• 제26권3호
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• pp.257-264
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• 2000

This research suggested a method by which the driver space can be designed to best accommodate the driver's anthropometric characteristics. Three-dimensional manikins and a variable seating buck were developed and used for this study. Manikins were designed with 18 links comprising the 95th percentile male and 5th percentile female data. The seating buck was built to create various driving environments using the distance and the height between the H-point(hip pivot) of the seat and the AHP(accelerator heel point), the angle of the back rest, the angle of the steering wheel, the vertical distance of the steering wheel, and the location of the T.G.S.(transmission gear shift) knob. Measurements of each variable were collected with a coordinate measuring machine by positioning the 3-D manikin under various combinations of the design factors of the seating buck, which was constructed based on mid-size domestic passenger cars. The data were then converted to the joint angles of the driver. The combination of the measurements for an optimal driving environment is suggested by applying sets of the joint angles at which the driver feels comfortable.

• 로봇학회논문지
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• 제1권1호
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• pp.81-88
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• 2006

Control of a robot manipulator in contact with the environment is usually conducted by the direct feedback control using a force-torque sensor or the indirect impedance control. In these methods, however, the control algorithms become complicated and the performance of position and force control cannot be improved because of the mechanical properties of the passive components. To cope with such problems, redundant actuation has been used to enhance the performance of position control and force control. In this research, a Double Actuator Unit (DAU) is proposed, with which the force control algorithm can be simplified and can make the robot ensure the safety during the external collision. The DAU is composed of two actuators; one controls the position and the other modulates the joint stiffness. Using this unit, it is possible to independently control the position and stiffness. The DAU based on the planetary gears is investigated in this paper. Performance using the DAU is also verified by various experiments. It is shown that the manipulator using this mechanism provides better safety during the impact with the environment by reducing the joint stiffness appropriately on detecting the collision of a manipulator.

• 수산해양기술연구
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• 제37권2호
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• pp.78-84
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• 2001

1999년 5월 29일부터 6월 30일까지의 남해안에서의 수심에 따른 수중광의 변화와 조업시간의 경과에 따른 예망 상대유속을 측정하고, 권현망어구에 대한 체장 4~7cm정도 되는 멸치들의 도피 반응행동을 관찰하고 분석한 결과는 다음과 같다. 1) 남해안 통영, 거제 부근 멸치어장에서 수심에 대한 수중광의 변화를 자연대수 곡선식으로 나타내면 광흡수 계수 c는 대표적인 관측점에서 주로 0.24~1.03 범위로 나타나서, 멸치의 어구에 대한 시인도가 어장에 따라 클 것으로 보인다. 2) 권현망어구의 원형그물과 1/2축소그물의 자루그물 입구부분의 상대유속을 기준으로 할때, 수비와 자루의 연결부분의 유속비는 평균 1.46, 자루부분의 유속비는 평균 0.67로 나타나서, 어구의 부위에 따른 상대유속변화가 멸치의 유영운동과 도피운동에 영향을 줄 것으로 보인다. 축소된 권형망어구에 있어서의 멸치의 대망행동을 관찰한 결과 수비와 자루연결부분에서 빠져나가는 1분당 멸치도피수는 평균 455미 정도였으며, 자루의 앞에서 예인방향으로 유영하는 깔대기를 빠져나가는 1분당 멸치도피 수는 평균 308미 정도로 나타나서, 어구 전체적으로는 상당수의 멸치들이 능동적인 도피행동을 나타내는 것으로 추측된다.

• 대한의용생체공학회:의공학회지
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• 제28권2호
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• pp.218-228
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• 2007

Modem concepts of gait rehabilitation after stroke favor a task-specific repetitive approach. In practice, the required physical effort of the therapists limits the realization of this approach. Therefore, a mechanized gait trainer enabling nonambulatory patients to have the repetitive practice of a gait-like movement without overstraining therapists was constructed. In this study, we developed an active gait training system for patients with gait disorder. This system provides joint movements to patients who cannot carry out an independent gait. It provides a normal stance-swing ratio of 60:40 using an eccentric configuration of two gears. Joint motions of the knee and the ankle were evaluated with using the 3D motion analysis system and compared with the results from the multi-body dynamics simulation. In addition, clinical investigations were also performed for low stroke patients during the 6-week gait training. Results from the dynamics simulation showed that joint movements of the knee and the ankle were affected by the gear size, the step length and the length of the foot plate, except the radius of curvature of the foot guide plate. Also, the 6-week gait training revealed relevant improvements of the gait ability in all low subjects. Functional ambulation category levels of subjects after training were 2 in three patients and 1 in a patient. The developed active gait trainer seems feasible as an adjunctive tool in gait rehabilitation after stroke.

• 한국자동차공학회논문집
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• 제17권2호
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• pp.187-192
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• 2009

A snap ring is a kind of metal spring with open ends which can be installed into a groove to prevent lateral movement. In this study a nonlinear finite element analysis model is developed to simulate the fastening process of a snap ring connecting the constant velocity joint and the transmission. Insert load, disengage load and breakage are three important issues. They are analyzed using the developed model. The load histories of simulations are similar to those of tests and the differences of maximum load are around 10%. Bending of the entire ring and unfolding of the end section are major contributors of the fastening load. The load variations caused by the angular position of spline tooth are about 50%. Breakage is highly sensitive to the position of a snap ring.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.312-316
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• 2004

In this study, a spatial 3-dof haptic mechanism is implemented. The implemented mechanism does not employ the gear transmissions as velocity reducers for all three joints but uses wire-based transmissions, thereby it is able to minimize the frictions significantly. Also, by employing the structure of the four-bar mechanism to drive third joint from close to the base, the mechanism is able to minimize the inertia effect from the third actuator very effectively. Its kinematic analysis such as position and velocity analyses are performed first. Then, its operating software development, hardware implementation, and the related interfaces between a PC and the implemented Haptic device are completed. To evaluate its potential and its performance as a haptic device, a experiment generating a virtual constraint in a operational task space is conducted and preliminary results are discussed.

• 한국자동차공학회논문집
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• 제21권6호
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• pp.201-208
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• 2013

Recently, there has been an active study about weight reduction for automotive. This study is prediction and evaluation of one pice type steering component, which is universial joint. Steering system is a core of major safe device in vehicle. Universial shaft adopted in steering system transmit steering torque between olumn and steering gear. Conventional universial shaft is produced by welding process because of geometric complexity. But welding process has some weakness such as deflection on surface, residual stress, and deteronration of material properties so it can deteriorate durability of vehicle.

• 한국철도학회논문집
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• 제2권2호
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• pp.13-20
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• 1999

The vibration signals of driving parts of electric train are distorted its signal patterns due to the impact components, which occurs when wheel passes rail joints. An elimination method of the impact components is investigated using adaptive signal processing technique in this study The result shows that adaptive interference canceling method seems to be more effective than line enhancement technique. The application of adaptive interference canceling method to the signal measured at bogie shows that the extractions of the signals of driving parts of traction motor, reduction gear, and axle bearing are successful. Therefore, only the signals of bogie, which is the place to attach an accelerometer easily, is sufficient for the fault diagnosis and the safety evaluation of electric train. Also, adaptive interference canceling method can be applicable to evaluate the performance of vibration isolation between bogie and car body and to investigate the characteristics of indoor sound.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1052-1057
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• 1993

A scara type Direct Drive Arm(DDA) with two degrees-of-freedom is designed and implemented. The direct drive motor is used to furnish large torque to reduce the modeling error by the gear and chains. To control the DDA, a multiprocessor control structure with multirate dynamic control algorithm is designed. In the control algorithm, the dynamics of system is used to calculate the nominal control torque and the feedback controls are calculated with a parallel processing algorithm for each joint. The laboratory experiments on Hong-Ik DDA by dynamic control algorithm are presented and compared to that of PID control algorithm. This result shows that the proposed controller guarantees small trajectory error and stability. With this research, Hong-Ik DDA is expected to be utilized as A basic tool for robotics and control engineering.