• Journal of Mechanical Science and Technology
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• v.17 no.2
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• pp.230-238
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• 2003

In this paper, a three-fingered anthropomorphic robot hand, called SKK Robot Hand 1, is presented. By employing a two-DOF joint mechanism, called Double Active Universal Joint (abbreviated as DAUJ from now on) as its metacarpal joint, the hand makes it possible to mimic humanlike motions. We begin with addressing the motivation of the design and mention how the anthropomorphic feature of a human is realized in the design of SKK Hand I Also, the mechanism of the hand is explained in detail, and advantages in its modular design are discussed. The proposed hand is developed for use as a testbed for dextrous manipulation. It is expected to resolve the increasing demand for robotic applications in unstructured environments. We describe its hardware construction as well as the controller structure including the preliminary results of experiments.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.03a
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• pp.298-303
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• 1998

Most of mechanical structures are combined of substructures such as beam and/or plates. There are few system with unibody structures but are not a few systems with united body structures. Generally the dynamic analysis of whole structures is perform ed under alternating load. However, the analysis of each joint area is more important than others for zero severity. This paper presents the results of analysis of concentration stress in bolt jointed structure with variable preload. At frist, a static vibration test was performed to find out a nominal stress of bolt joint ed plates from the relationship between natural frequency and nominal stress. Then a concentration stress was computed at contact point between bolt and plate in the structure. It is believed that the proposed method has promising implications for safer design with fatigue quality index of stress concentration factor and has merit for cost down and saving time at the beginning of vehicle development.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.2
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• pp.139-147
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• 2020

In this paper, design measure were proposed for the construction of terminal systems for airborne platforms, which are key element in the Joint Tactical Data Link System (JTDLS) complete system. The Korean perfect tactical data link (JTDLS) is a communication system to establish an independent tactical data link network and needs to develop a MIDS-LVT (Link-16) communication terminal for datalink. Once a Ground/Navy JTDLS terminal system is established around airborne platform, it will be possible to break away from reliance on NATO-based tactical data link joint operations and establish independent Korean surveillance reconnaissance real-time data sharing and tactical data link operations concepts. in this paper, the essential development elements of airborne platform mounting and operable JTDLS terminals are presented, and the concept of system design is proposed to embody them. Further, improved system performance was analyzed by applying the concepts of complex relative navigation system and Advanced TDMA protocol for the deployment of airborne tactical datalink networks.

• Proceedings of the KSR Conference
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• 2010.06a
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• pp.621-626
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• 2010

According to development of method and device of Finite Element Analysis, the strength of welded joint is demonstrated by Finite Element Analysis not classical calculations. On the FEA, all of the joints for carbody are assumed to be ideal connections and the yield stress of welded joint is assumed to be the same to base metal. On these assumption, FEA is appropriate to evaluate the overall stability and strength of whole carbody. The classical calculation is appropriate to evaluate strength of specific welded joint and to determine the weld method and properties. Some project request strength calculation of the specific welded joints in addition to FEA, because of the demonstration of stability. The objective of this paper is the check of the consistency of the FEA result for the welded joints by the stress comparison between Detailed FE Model and classical calculation and the evaluation of the reliability of FEA result.

• Journal of Korean Foot and Ankle Society
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• v.15 no.2
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• pp.102-106
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• 2011

Recently, development and improvement in joint replacement therapy, the need for arthrodesis has been decreasing. However, result of joint replacement is not always satisfactory, and most cases are rather indicative to ankle arthrodesis than ankle replacement. Often, ankle arthrodesis can be more beneficial salvage method to treat cases with failure in joint replacement therapy, talar avascular necrosis with massive bone defect, talus fracture with severe comminution and bone defect and ankle dislocation. In cases with large bone defect that need to be treated with ankle arthrodesis using internal fixation, it is difficult to fill the defect with conventional auto-iliac bone or all-bone graft. Thus, we make a report on our experience in treating 2 cases with ankle arthrodesis using auto-fibular bone graft and plate fixation.

• Proceedings of the KWS Conference
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• 2005.11a
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• pp.180-182
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• 2005

Development of FSW for use in lap joint production would expend the number of applications that could benefit from the technique. In the study, an extensive investigation was carried out on FSW lap joints, including interface morphology and mechanical properties. Welding variables included welding speed, rotation speed and, of particular importance, lap joint a methods. Examination of metallographic cross sections and failure locations showed a critical sheet interface present in all welds. Results indicates FSW lap joints may potentially replace other joining processes like resistance spot welding and riveting.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.2
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• pp.185-191
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• 2001

In many papers, the powertrain system generally has been madeled as one-dimensional torque model. One-dimensional powertrain model may calculate the torque correctly but it does not consider the non-rotational degrees-of-freedom of the powertrain components and the interaction of these degrees-of-freedom with the vehicle body frame and suspension. To consider the non-rotational degrees of freedom, the differential is modeled as a three-dimensional rigid body in this paper. A constant velocity joint is newly formulated and a relative constraint is also formulated to model the motion transfer due to gear ratio of the differential. Implementing the proposed powertrain system in the multibody model, more detail dynamic responses can be obtained. Obtained outputs such as reaction torques on the constant velocity joint and reaction forces on the rack can be useful data in the design of a powertrain.

• Journal of Powder Materials
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• v.4 no.3
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• pp.196-204
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• 1997

Joining of AIN ceramics to W and Cu by active-metal brazing method was tried with use of (Ag-Cu)-Ti alloy as insert-metal. Joints were produced under various conditions of temperature, holding time and Ti-content in (Ag-Cu) alloy Reaction and microstructural development in bonded interface were investigated through observation and analysis by SEM/EDS, EPMA and XRD. Joint strengths were measured by shear test. Bonded interface consists of two layers: an insert-metal layer of eutectic Ag- and Cu-rich phases and a reaction layer of TiN. Thickness of reaction layer increases with bonding temperature, holding time and Ti-content of insert-metal. It was confirmed that the growth of reaction layer is a diffusion-controlled process. Activation energy for this process was 260 KJ/mol which is lower than that for N diffusion in TiN. Maximum shear strength of 108 MPa and 72 MPa were obtained for AIN/W and AIN/Cu joints, respectively. Relationship between processing variables, joint strength and thickness of reaction layer was also explained.

• The Journal of Korea Robotics Society
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• v.2 no.2
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• pp.168-177
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• 2007

In a number of fields, robots are being used for two purposes: efficiency and safety. Most robots, however, have single-actuator mechanism for each joint, where the tasks are performed with high stiffness. High stiffness causes undesired problems to the environment and robots. This study proposes redundant actuator mechanism as an alternative idea to cope with these problems. In this paper, Double-Actuator Unit (DAU) is implemented at each joint for applications of multi-link manipulators. The DAU is composed of two motors: the positioning actuator and the stiffness modulator, which enables independent control of positioning and compliance. A three-link manipulator with DAUs enables adaptive control of RCC. By modulating the joint stiffness of the manipulator and controlling the position of RCC, we can significantly reduce contact force during assembly tasks and surgical procedures.

• Journal of the Korean Society of Clothing and Textiles
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• v.20 no.5
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• pp.852-859
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• 1996

The factors and mechanism of arm surface changes were analyzed by regression analysis for the relationship between changes in arm joint angle and arm surface changes, according to the direction of upper extremity motion. Body surface change patterns among subjects were tested also. Experiments were carried out on 3 female subjects of different body types to examine 26 motions in 4 directions for 4 upper extremity parts. The major conclusions of the study are as follows: 1. The expansion or contraction of arm surface length depends on the direction of upper extremity motion. 2. Arm surface length changes by linear expansion or contraction according to the joint angle of the direction of motion. The mechanism of arm surface changes is represented by a linear relation between arm surface changes and the (actors of the direction of upper extremity motion and arm joint angle. 3. Arm surface length shows the same pattern of body surface changes regardless of body type. A quantitative model of body surface changes at upper extremity should be developed for functional sleeve design.