• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.15-18
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• 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 performed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• 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...

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.805-809
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• 2003

We developed a human-sized BWR(biped walking robot) named KUBIR1 driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIR1 was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize the information on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interface was developed based on the OpenGL tool. Through the graphic interface, the control input of KUBIR1 is performed.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.5
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• pp.82-87
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• 2012

The outer tie rod that is a part of steering system connects the steering gear to the steering knuckle via the inner tie rod. The formal study suggested the optimized structural design of an outer tie rod installed in a passenger car. Its weight is 284.7g, which is 57.2% lighter weight than initial steel model. This study validates the optimized design of the outer tie rod considering buckling and durability. The assembled unit of an inner tie rod and outer tie rod is utilized to perform the test of the bending strength of the outer tie rod. On the contrary, 1/2 car is utilized to perform the test of its durability performance.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.1
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• pp.66-72
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• 2005

The working tactor of this study, an agriculture machine, is consisted of 4 wheel driving system with gear trains and 4-type wheel steering system. Since technological regions for 4 wheel driving system and 4-type wheel steering system are some large, we divide on two studies on 4 wheel driving system and 4-type wheel steering system This study develops transmission and axle that are very important units for strong working operation because the power of tractor is largely affected by transmission and axle. Even if the development of the power train is some common technology, it is very complicated work and needs many experience know-hows. So, for new given specifications fitted to the working tractor, a kind of new agriculture machine, this study haws out processes that are development of assembly drawing and strength analysis through classical method and CAE software for all internal parts and housing cases.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.484-491
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• 2002

We developed a new type of 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 10 degree-of-freedom robot with two balancing joints 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 robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.5
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• pp.363-369
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• 2004

Vibration/noise analysis as well as strength of gear teeth, roller bearing life. joural bearing design are considered in order to develop the high-speed machine centrifugal pump which had a speed increaser. A Campbell diagram, in which the excitation sources caused by the mass unbalance of the rotors and the transmitted errors of the gearing are considered. shows that. at the operating speed. there are not the critical speed. A high-speed machine centrifugal pump was made in order to evaluate developed speed increaser. Also, strict API standard were introduced for reliability evaluation of developed speed increaser, and performance evaluation were carried out. The result that evaluation items about bearing vibration, shaft vibration, noise, and lubrication temperature were selected, and were tested. a high-speed machine centrifugal pump were able to know what were satisfied with API standard all.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.583-586
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• 2000

The conventional actuators with the speed reducer had weakness in supporting the weight of the body and leg itself. To overcome this, a new four bar link mechanism actuated by the ball screw was proposed. The four bar mechanism has higher strength and gear ratio than the conventional actuator to actutate the leg of the biped robot. One leg was designed to have ankle, thigh, and hip joints. The kinematics and dynamics of one leg with four bar link mechanism was analyzed using Euler-Lagrange approach. The dynamics of one leg was expressed in the ball strew frame.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.244-249
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• 2008

It happened a failure on special bolt which supported main landing gear actuator up-lock rod of 00 aircraft. Fracture was occurred at end of center drilled hole and thread machined on bolt. Metallographic, fractographic, and other characteristics of embrittlement analysis and experiments carried out on the failed bolt to find out the reason. Bolt surface was cadmium electroplated(EP) to give lubrication and provide excellent corrosion resistance. Resultly, Bolt was failed due to cadmium embrittlement occurred during baking treatment as well as center drilled hole. for the failure that are relevant to failure analysis and prevention. For their successful functional application, cadmium EP bolts require proper and adequate baking treatment after electroplating, and is complete with no center drilled hole

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.267-267
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• 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.