• 로봇학회논문지
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• 제11권3호
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• pp.163-171
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• 2016

A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.281-282
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• 2009

• 로봇학회논문지
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• 제8권4호
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• pp.247-255
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• 2013

This paper shows the development of a snake robot (KAEROT-snake V) which consists of 16 1-DOF actuator modules and head module. The modules are connected serially and the joint axis of each module is rotated by $90^{\circ}$ with respect to the previous joint so that the snake robot can move in the 3D space. A tail actuator module includes slip-ring and metal connector. KAEROT-snake IV developed in prior research could move in the 3D space and climb up in a narrow pipe. But its design was not appropriate to the unstructured tough environment and its speed was somewhat slow. A new actuator module is designed to enclose all parts of the module so that any wire is not exposed. The size and weight of the new module was slightly reduced. And the rotation speed and torque of the joint was increased by about twice when compared with pre-module. An embedded controller was developed so small that it can be mounted inside the module. The performance of the developed robot was demonstrated through various locomotion experiments.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 추계학술대회 논문집
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• pp.791-795
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• 2014

In this paper, in order to impart the aging condition of the parts, by configuring the cycle of temperature from low temperature was performed by applying the aging conditions for vehicle cockpit module. The reason for the selected modules of the cockpit vehicle parts, because the joint occurrence typical components of the room component is a first module and ceiling cockpit module. After setting the excitation profile using the BSR exciter only that this is for the module degradation after the initial and grasp the change in the dynamic characteristics of the modules based on the before and after deterioration may be made in the module, grasp the noise generating position I measured the noise and proximity. Was also visualized on the position of the joint is generated using a sound camera to objective results occurring where the joint is selected through subjective evaluation.

• 한국지능시스템학회논문지
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• 제20권6호
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• pp.843-847
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• 2010

최근 지능형 로봇 및 산업용 로봇 분야에서 최대 관심 중의 하나는 일체형 구조의 중공형 관절 모듈을 위한 모션 네트워크 기반 서보 드라이버 모듈의 설계 및 구현이다. 본 논문에서는 중공형 드라이버를 설계하고 이를 구현하였으며, 실험을 통하여 개발된 모듈의 성능을 검증하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.847-848
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• 2013

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.2015-2018
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• 2005

In this paper, we are willing to prepare the reasonable optimization, Combinatorial Optimization and Genetic Algorithm. Thus we define position status of end-effect (or terminative link module) using promised form, (G, M(G), A(G), and so on.). For this preparing step, the reorganizing procedure of Link and Joint Module is necessary, like as enumerating the kinematically identical assembly group of several links and joints. Thus, we draw a G, directed graph in a first step. Because, directed graph contains the path information between adjacent Link Module and Joint Module. From the directed graph,G, we can incite the Incidence Matrix, M(G). The incidence matrix, M(G), contains the contact information of the Link (Joint) Module and the type of Link (Joint). At the end of this paper, we generalize the modular information as a matrix form, A(G). From this matrix, we can make a population of assembly status. That is the finial output of this paper.

• Journal of Mechanical Science and Technology
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• 제18권12호
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• pp.2209-2215
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• 2004

In the present research work, an automated machine vision system and a new algorithm to interpret the inspection data has been developed. In the past, the control of tolerance of front-chassis-module was done manually. In the present work a machine vision system and required algorithm was developed to carryout dimensional evaluation automatically. The present system is used to verify whether the automobile front-chassis-module is within the tolerance limit or not. The directional ability parameters related with front-chassis-module such as camber, caster, toe and king-pin angle are also determined using the present algorithm. The above mentioned parameters are evaluated by the pose of interlinks in the assembly of an automobile front-chassis-module. The location of ball-joint center is important factor to determine these parameters. A method to determine the location of ball-joint center using geometric features is also suggested in this paper. In the present work a 3-D best fitting method is used for determining the relationship between nominal design coordinate system and the corresponding feature coordinate system.

• Nuclear Engineering and Technology
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• 제54권1호
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• pp.357-373
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• 2022

The high-temperature gas-cooled reactor pebble-bed module project is the first commercial Generation-IV NPP(Nuclear Power Plant) in China. A new joint is used for the vertical support of RPV(Reactor Pressure Vessel). The steel corbel is integrally embedded into the reactor-cabin wall through eight asymmetrically arranged pre-stressed high-strength bolts, achieving the different path transmission of shear force and moment. The vertical monotonic loading test of two specimens is conducted. The results show that the failure mode of the joint is bolt fracture. There is no prominent yield stage in the whole loading process. The stress of bolts is linearly distributed along the height of corbel at initial loading. As the load increases, the height of neutral axis of bolts gradually decreases. The upper and lower edges of the wall opening contact the corbel plate to restrict the rotation of the corbel. During the loading, the pre-stress of some bolts decreases. The increase of the pre-stress strength ratio of bolts has no noticeable effect on the structure stiffness, but it reduces the ultimate bearing capacity of the joint. A simplified calculation model for the elastic stage of the joint is established, and the estimation results are in good agreement with the experimental results.

• 대한기계학회논문집A
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• 제40권2호
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• pp.133-138
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• 2016

기존에는 로봇 말단에 6축 힘/토크 센서를 부착하여 로봇의 힘제어 및 충돌감지를 수행하였지만, 이 방법은 매우 고가이고, 로봇의 몸체에서 발생한 충돌을 감지할 수 없었다. 이의 대안으로 각 관절에 관절 토크센서를 장착하였으나, 토크 측정 시에 발생하는 다양한 오차로 인하여 실제 적용에 한계가 있었다. 이러한 문제를 해결하고자 본 연구에서는 정확한 토크 측정을 위한 관절 토크센서 및 이를 포함하는 관절모듈을 개발하였다. 제안된 관절모듈은 로봇에 인가되는 모멘트 부하를 지지하고, 조립 시 발생하는 응력을 감소시키기 위하여 토크센서에 디스크형 커플링을 첨가하여 원하는 회전토크만을 효과적으로 측정할 수 있도록 하였다. 본 논문에서는 다양한 실험을 통하여 제안한 토크센서의 성능을 검증하였다.