• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.235-241
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• 2016

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.12
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• pp.157-164
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• 1995

Straight belvel gear is used mainly for steering system, final reduction and differential gear in the automobile. The more high load, high velocity driving bevel gear, the more unsafe and unpleasant. In thid study, we get a kinematic equation by modelling straight bevel gear pair with simple elastic system, the dynamic characteristic analysis about this system, we got the dynamic load factor of tooth surface. Comparing the value of dynamic load factor by calculation with the measured value of Terauchi's experimental results is similar. We think it useful to analysis the vibration and the noise of straight bevel gear in operation with the analytic method of dynamic load of straight bevel gear using in this study.

• Korean Journal of Applied Biomechanics
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• v.15 no.1
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• pp.63-74
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• 2005

J. R. PARK. The Analysis of Electrimyography and Kinematic of Kumdo Player's Head Hitting. Korean Journal of Sport Biomechanics, Vol. 15, No. 1, pp. 63-74, 2005. The purpose of this study were to describe and compare the selected electromyographical muscle activities of arm and kinematic data of kumdo player's head hitting. Using surface electrode electromyography, we evaluated muscle activity in 6 male players during head hitting motion. Surface electrodes were used to record the level of muscle activity in the carpi radialis, deltoid, triceps, biceps muscles during the player's head hitting. These signals were compared with %RVC(Reference voluntary contraction) which was normalized by IEMG(Integrated EMG). The kumdo head hitting motion was divided into two phases: back swing, down swing. we observed patterns of arm muscle activity throughout two phases of the kumdo head hiting The results can be summarized as follows: right elbow angle had decreased and left deltoid muscle's activation had higher than right deltoid muscle's activation, right carpi radialis muscle's activation had higher than left carpi radialis muscle's activation in back swing phase, knee angle had decreased and left triceps muscle's activation had higher than right triceps muscle's activation, right deltoid muscle's activation had higher than left deltoid muscle's activation, right carpi radialis muscle's activation had higher than left carpi radialis muscle's activation in down swing phase

• Korean Journal of Applied Biomechanics
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• v.13 no.3
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• pp.181-197
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• 2003

The Purpose of this study was to examine the kinematic analysis of the upper-limb motion of wheelchair basketball free throw shooting. Three-dimensional kinematic data were obtained from 8 male wheelchair basketball players performing a successful free throw. Players were divided into three groups, according to their IWBF classification(Group 1: 1 point players, Group 2: 2-2.5point players and Group 3:3.5-4 point players) Wheelchair basketball free throw motions were taken by video camera. The three-dimensional coordinates was processed by DLT. Players from Group 1 and 2 tended to release the ball from a lower height, with greater velocity and release angle. Players from Group 1 showed greater shoulder horizontal adduction and horizontal abduction angle, wrist ulnar flexion and radial flexion angle, and trunk angle. but players from Group 2 appeared lower shoulder abduction. Upper limb angular velocity showed most greatly in hands from Group 1, upperarm from Group 2, and forearm from Group 3.

• Transactions of Materials Processing
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• v.22 no.1
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• pp.30-35
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• 2013

In this study, springback amounts of an S-rail are quantitatively compared according to the hardening model using a finite element simulation for the stamping process with high strength steels. For comparison of the hardening models, two types of hardening models were investigated. The two models were isotropic hardening and kinematic hardening. For the analysis with kinematic hardening, the Yoshida-Uemori model was selected. Five kinds of springback modes were measured at designated sections and a comparison was made between the experiment and the analyses with two types of hardening models. The analysis results show that the springback in the flange and the wall curl are predicted more accurately with a kinematic hardening model.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.869-876
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• 2017

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the mechanical system and to design its components. This paper presents an algorithm that calculates actuating forces(or torques), depending on the various types of driving constraints, in order to produce a given system motion in the joint coordinate space. The joint coordinates are used as the generalized coordinates of a kinematic system. System equations of motion and constraint acceleration equations are transformed from the Cartesian coordinate space to the joint coordinate space using the velocity transformation method. A numerical example is carried out to verify the algorithm proposed.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.12
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• pp.1256-1265
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• 2011

Automated parking assist systems are being commercialized and rapidly spread in the market. In order to improve odometry accuracy, we proposed a practical odometry calibration scheme of Car-Like Mobile Robot (CLMR). However, there were some open problems in our prior work. For example, it was not clear whether the kinematic parameters always converged or not using the proposed calibration scheme. In addition, test driving had to be carried out "twice" without detailed explanation. This research aims to provide answers for the addressed questions though the convergence property analysis of the calibration scheme. In this paper, we evaluate on the effect of the kinematic parameter error on the odometry error at the final pose by numerical computation. The evaluation will show that the wheel diameter and tread of the CLMR can be calibrated by iterative test drives. In addition, the region of convergence in the parametric space will be discussed. Presented experimental results clearly showed that the proposed calibration scheme would be useful in practical applications.

• Korean Journal of Computational Design and Engineering
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• v.10 no.2
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• pp.133-142
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• 2005

This paper proposes an object-oriented conceptual information model of mechanical assemblies, named open assembly model (OAM). The proposed assembly model primarily defines hierarchical relationships between parts and subassemblies. Together with the assembly hierarchy. the model also provides a way to represent tolerances, kinematic information, and parametric assembly constraints. Relational information such as mating conditions and degree of freedom between parts and subassemblies is captured via assembly features and relationships thereof. The information model is described using class diagrams of the Unified Modeling Language (UML), and instance diagrams are used to exemplify the proposed information model. The conceptual model presented in this paper is an integrated information model for assembly representation, which could supply necessary information for tolerance analysis and synthesis, kinematic simulation, and assembly simulation. Such a conceptual information model plays an important role for the exchange of information between modeling, analysis and planning systems. Hence, the proposed model could serve as a framework for developing data exchange standards of mechanical assemblies. The proposed model is demonstrated through a case study of a planetary gear assembly.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.19 no.1
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• pp.39-45
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• 2001

The design of highway in the future should be convenient using of a high-technology information, and it needs the design of alignment that is able to find the maximum vehicles inducement function fitting into Car Navigation System. Well then, the alignment of the existent highway needs to be analyzed with accuracy for improving design of existent highway, and it needs the design drawing of existent highway, and coordinates of the main point. This study gets data of the alignment of highway economically by Kinematic GPS surveying to analyze the alignment of existent highway, and horizontal alignment of highway is analyzed by this data. The result of study is included within range practical error, and alignment analysis can be known that there is practical.

• Korean Journal of Applied Biomechanics
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• v.16 no.2
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• pp.85-95
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• 2006

The purpose of this study of which 10 University students in their twenties are the objects was to examine the causal differences of kinematic and electromyography during power walking and normal gait. We came to the following conclusions. 1) It took less time to stance phase, swing phase and whole gait time during power walking compared with normal gait. 2) During power walking, the step length and step length and lower limb length are longer than that of normal gait. 3) During power walking, ankle joint angle became more plantar flexed at LIC and RTO, knee joint angle become more flexed, so did hip joint angle at LIC and RTO. Besides during power walking the shoulder joint angle movement was bigger and elbow joint angle was more flexed as the trait of power walking. 4) During power walking, through out the phase the muscle activity of all muscle was higher expecially the muscle activity of Biceps brachii, gastrocnemius medialis, gastrocnemius lateralis, Soleus was higher. Therefore during power walking, one's scope of activity and muscle activity is relatively higher than those of normal gait, so power walking helps one strengthen muscular power and energy metabolism. This will be useful information for those who are interested in diet and well-being.