• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.1021-1028
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• 2011

The objective of this paper is to optimize the design parameters of a novel mechanism for a robotic knee orthosis. The feature of the proposed knee othosis is to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The quadriceps device operates in five-bar links with 2-DOF motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking. However, the proposed orthosis must use additional linkages than a simple four-bar mechanism. To maximize the benefit of reducing the actuators power by using the developed kinematic design, it is necessary to minimize total weight of the device, while keeping necessary actuator performances of torques and angular velocities for support. In this paper, we use a SGA (Simple Genetic Algorithm) to minimize sum of total link lengths and motor power by reducing the weight of the novel knee orthosis. To find feasible parameters, kinematic constraints of the hamstring and quadriceps mechanisms have been applied to the algorithm. The proposed optimization scheme could reduce sum of total link lengths to half of the initial value. The proposed optimization scheme can be applied to reduce total weight of general multi-linkages while keeping necessary actuator specifications.

• Geomechanics and Engineering
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• 제30권6호
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• pp.539-549
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• 2022

Accidental anchor drop can cause disturbances to seabed materials and pose significant threats to the safety and serviceability of submarine structures such as pipelines. In this study, a series of anchor drop tests was carried out to investigate the penetration mechanism of a Hall anchor in sand and clay. A special anchor drop apparatus was designed to model the inflight drop of a Hall anchor. Results indicate that Coriolis acceleration was the primary cause of large horizontal offsets in sand, and earth gravity had negligible impact on the lateral movement of dropped anchors. The indued final horizontal offset was shown to increase with the elevated drop height of an anchor, and the existence of water can slow down the landing velocity of an anchor. It is also observed that water conditions had a significant effect on the influence zone caused by anchors. The vertical influence depth was over 5 m, and the influence radius was more than 3 m if the anchor had a drop height of 25 m in dry sand. In comparison, the vertical influence depth and radius reduced to less than 3 m and 2 m, respectively, when the anchor was released from 10 m height and fell into the seabed with a water depth of 15 m. It is also found that the dynamically penetrating anchors could significantly influence the earth pressure in clay. There is a non-linear increase in the measured penetration depth with kinematic energy, and the resulted maximum earth pressure increased dramatically with an increase in kinematic energy. Results from centrifuge model tests in this study provide useful insights into the penetration mechanism of a dropped anchor, which provides valuable data for design and planning of future submarine structures.

• 한국정밀공학회지
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• 제15권12호
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• pp.162-168
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• 1998

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot's trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. This paper develops algorithms for kinematics and workspace analysis of a binary manipulator.

• 대한인간공학회지
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• 제18권3호
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• pp.141-152
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• 1999

In this paper, We performed the human body dynamic modelling for the realistic animation based on the dynamical behavior of human body, and designed controller for the effective control of complicate human dynamic model. The human body was simplified as a rigid body which consists of 18 actuated degrees of freedom for the real time computation. Complex human kinematic mechanism was regarded as a composition of 6 serial kinematic chains : left arm, right arm, support leg, free leg, body, and head. Based on the this kinematic analysis, dynamic model of human body was determined using Newton-Euler formulation recursively. The balance controller was designed in order to control the nonlinear dynamics model of human body. The effectiveness of designed controller was examined by the graphical simulation of human walking motion. The simulation results were compared with the model base control results. And it was demonstrated that, the balance controller showed better performance in mimicking the dynamic motion of human walking.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.413-418
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• 1996

Alternate pirn winding is more difficult to control than others because starting points of its traverse strokes are changed alternately through the winding operations. However, the alternate pirn winding is ye useful method because the yarn can be hardly broken when it is unwinded from full packaged bobbin. This paper presents kinematic control algorithm for the alternate pirn. The proposed algorithm can decide the values of control variables such as bobbin speed and traverse speed from the given input parameters and constraints by using the kinematic relations of the winding mechanism. The compute simulations and experimental verifications of the developed winding control algorithm are carried out It is concluded that the proposed algorithm is an efficient and reliable alternative to traditional trial and error control methods.

• 대한의용생체공학회:의공학회지
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• 제20권4호
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• pp.485-493
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• 1999

Human can generate various posture and motion with nearly 350 muscle pairs. From the viewpoint of mechanisms, the human skeleton mechanism represents great kinematic and dynamical complexity. Physical and behavioral fidelity of human motion requires dynamically accurate modeling and controling. This paper describes a mathematical modeling, and dynamic simulation of human body. The human dynamic model is simplified as a rigid body consisting of 18 actuated degrees of freedom for the real time computation. Complex kinematic chain of human body is partitioned as 6 serial kinematic chains that is, left arm, right arm, support leg, free leg, body, and head. Modeling is developed based on Newton-Euler formulation. The validity of proposed dynamic model, which represents mathematically high order differential equation, is verified through the dynamic simulation.

• 한국정밀공학회지
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• 제15권12호
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• pp.37-47
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• 1998

This study discusses the feed dog feeding mechanism of an industrial lock stitch sewing machine, which is a good example to study a machine kinematics. The feed dog feeding mechanism makes the fabrics directly be fed by an elliptic motion of the feed dog that is moved by a rotation of the top shaft and controlled by the feeding control mechanism. This study makes mathematical expressions of machine's motion in the feed dog feeding mechanism. Thus, the motions of this mechanism are characterized, namely how an elliptic motion of the feed dog is affected by the feeding control mechanism. Therefore, the above mathematical expressions may be a basis for the new design of the feed dog feeding mechanism and may be adapted to analysis. Development of the similar feed dog feeding mechanism can be applied to other type sewing machine.

• 한국산학기술학회논문지
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• 제2권1호
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• pp.13-17
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• 2001

본 논문에서는 공업용 재봉기의 구성설계를 기능적 접근법을 이용하여 수행하였다. 구성설계 방법을 설계에 이용하면 제품의 개발시간을 줄일 수 있고, 기존의 기구 메커니즘 데이터를 효율적으로 이용할 수 있는데 이러한 구성설계를 구현하기 위해 전문가 시스템을 이용 하였다. 설계 구속조건은 전문가 시스템의 추론기능과 CBR(Case Based Reasoning) 방법을 사용하여 만족되도록 하였으며 전문가 시스템의 API 기능을 이용하여 기구해석과 최적설계가 외부 프로그램을 이용하여 수행됨으로서, 공업용 재봉기의 개념설계가 효율적으로 수행될 수 있도록 하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.498-502
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• 2004

In a link-motion mechanism, numerous links are interconnected and each link executes a constrained motion at a high speed. Due to the complicated constrained motions of the constituent links, dynamic unbalance forces and moments are generated and transmitted to the main frame. Therefore unwanted vibration is produced. This degrades productivity and precise work. Based on constrained multi-body dynamics, the kinematic analysis is carried out to enable design changes to be made. This will provide the fundamental information for significantly reducing dynamic unbalance forces and moments which are transmitted to the main frame. In this work, a link-motion punch press is selected as an example of a link-motion mechanism. To calculate the mass and inertia properties of every link comprising a link-motion punch press, 3-dimensional CAD software is utilized. The main issue in this work is to eliminate the first-order unbalance force and moment in a link-motion punch press. The mass, moment of inertia link length, location of the mass center in each link have a great impact on the degree of dynamic balancing which can be achieved maximally. Achieving good dynamic balancing in a link motion punch press is quite essential fur reliable operation at high speed.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1482-1487
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• 2003

This paper presents a new family of 4-DoF parallel mechanism with two platforms. The new mechanism is composed of front and rear platforms, and three limbs. Two limbs with 6dof joint (P-P-S-P) are attached to the each platform and are perpendicular to baseplate, while the middle limb with 4-Dof joints (R-R-R-P or R-R-P-P) is attached to the revolute joint that connect front and rear platform. The two-DoF-driving mechanism at the middle limb with two base-fixed prismatic actuators can generate the heaving and roll motions or two translational motions. Therefore, Therefore, the new 4-Dof parallel mechanism (1T-3R) can generate pitch motions at each platforms, roll, and heaving motions, while another type of new 4-Dof parallel mechanism (2T-2R) can generate pitch motions at each platforms, x and z translational motions. For 1T-3R mechanism, kinematic analyses including inverse, forward kinematics, and Jacobian are performed.