• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.22-27
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• 2012

This paper presents a ball screw-driven robotic gripper mechanism which is possible to grasp an object and analyzes its kinematic feature for grasping by simulation. For the purpose of identifying the feature of the robot gripper, we try to confirm the kinematics relating the joint space of the driving actuator to the gripper's tip space. To be specific, the proposed robot gripper employs one actuator and a symmetrical closed-chain structure. As a result, the specified robot gripper has an advantage of robustness to external forces structurally, and it is easy to implement simple grasping operations. Also the gripper has a useful squeezing effect for power grasping.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.10
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• pp.1069-1077
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• 2013

These days, the interest of high speed robotic system is increasing because it is very important to get the cost-competitiveness. The parallel kinematic mechanism is more useful than the serial kinematic mechanism. For the reason, the researches on the parallel robot system as a high speed robotic one are have been done by many researchers. In this paper, the research on the design and analysis of the high speed parallel robot has been done by the authors. First, Basic robot structure is designed and modal analysis is studied to get the basic characteristics of the vibrational motion. Second, the harmonic analysis is studied to get the information of the natural frequency in some different designs of the outer-arm of the parallel robot. Finally, actual robot system is designed and implemented and it is confirmed that the analysis results coincide with the experimental results.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.4
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• pp.528-538
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• 1985

A R-S-S-R three dimensional mechanism is designed for crank-rocker type through the optimization technique. The nonlinear kinematic equation of the mechanism is formulated by adopting the concept of structural error and precision points. Taking this equation as an objective function, the required mechanism is optimally synthesized by the Fletcher-Davidon-Powell's method of optimization techniques. The structural errors due to the various positions of precision points are compared, and the results from the use of two penalty functions suggested respectively by Fiacco-McCormick and by Powell are also compared on their effectiveness. The mobility of the optimally designed mechanism is checked for the possibility of its motion, and when a mechanism is optimally designed, it is strongly suggested that the mobility must be checked on the designed mechanism.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.991-996
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• 2007

Since the performance of the circuit breaker mainly depends on the spring operating mechanism, the analysis of the spring operating mechanism is required. The spring, especially closing spring, stores the deformation energy due to the compression and then accelerates the big loads rapidly in the circuit breaker. To accurately carry out the kinematic and dynamic analysis of the circuit breaker, the precise modeling of the spring behavior is necessary. In this paper, the static stiffness of the spring is captured by using the tester. When the spring is used in the circuit breaker, it is installed horizontally. Therefore, Sine excitation tests are carried out horizontal and vertical direction. Three types of spring models such as a linear spring model, modal spring model, and nodal spring model are suggested and compared with the experimental results.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.284-290
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• 1993

In order to improve the adaptability of rice transplanter to seeding with different length when transplanting multicropping rice in south China. The seedling separating planting mechanism is resynthesized in the paper. According to the agronomy requirements of seedling's transplanting, optimum motional path of the tip point of planting needle is obtained. by applying the established kinematic model of the separating planting mechanism, the relevant software is compiled. On the basis of the features of the problem, the constrained optimization method is utilized to solve the problem with 24 restrictions. Thus, the optimum structure parameters are obtained to satisfy the path points accurately.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.2 s.191
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• pp.64-72
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• 2007

Many human-body motions such as walking, running, jumping, etc. require a significant amount of power. To achieve a high power-to-weight ratio of the humanoid robot system, this paper proposes a new design of the bio-mimetic leg mechanism resembling musculoskeletal system of the human body. The hip joints of the system considered here are powered by 5 human-like bi-and mono-articular muscles, and the joints of knee and ankle are redundantly actuated by both bi-articular muscles and joint actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant muscles into the leg mechanism enhances the power of the mechanism approximately 2 times of the minimum actuation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.10
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• pp.897-904
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• 2008

Egg grading machine is used in poultry raising industry to classify eggs by their weight and to pack up them. Packer holder mechanism is a main part of the egg grading machine, of which role is to take eggs fallen from conveyor belt, and afterward to transfer eggs vertically to mold tray. The vertical motion of packer holder is usually driven by slider-crank mechanism or cam. This paper describes development of the cam in packer holder based on kinematic analysis of packer holder mechanism and measurement of acceleration and noise of the cam to verify performance of it. Several cams that are designed and manufactured by the author of this paper according to different design specification are compared to determine the best solution for egg transfer in the packer holder mechanism.

• Journal of the Korean Society for Railway
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• v.8 no.1
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• pp.34-40
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• 2005

This study presents parametric studies for design of a tilting mechanism to be used in 180km/h tilting train. The tilling mechanism is composed of 4 links, a lilting bolster old an electro-mechanical actuator. The movements of the tiling center, CG of the train body, coupler center and tilting actuator along variation of upper and lower span length have been verified by the kinematic analysis. Moreover, the inclination angle and the stroke of the tilting actuator according to the variation of the tilting angle from +8 degrees to -8 degrees have been investigated. From this study, the relation between the movements of the CG of the train body, coupler center and tilting actuator and the height of the tilting center could be evaluated.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.384-388
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• 2016

This paper proposed a m.Sketch to search the optimal link lengths for a legged walking robot. In order to apply the m.Sketch for the proposed, set the design parameters of the constraints and use the m.Skecth to get optimal GL(Groud Length) and GAC(Ground Angle Coefficient). The legged robot designed based on four-bar linkage theory and Theo Jansen mechanism. The stride length of the legged walking robot was defined based on the proposed kinematic analysis. Use the Edison Design m.Sketch simulate and find the optimal link length having the best of the Ground Length (GL) and Ground Angle Coefficient(GAC). And use these length implemented the Theo Jansen mechanism both in Science box parts and acrylic. In addition to the further expansion of the legs to reach the goaltranslating heavy objects or person.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.04a
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• pp.525-530
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• 1995

The main objective of this study is to develop a gripper mechanism that can be employed for assembly and removal tasks of a nozzle-dam of steam gererator which is one of the nuclear reactor maintenance process. Brief description of the open-close type gripper mechanism, its postion analysis, and its kinematic amalysis are given. The optimal design of the gripper mechanism with slipping on its two gripping surfaces is considered. As an optimaldesign index, the ratio of the actuator force of prismatic cylinder to gripping load is proposed. Then, based on this index the optimal design synthesis is careied out to identify values of optimal design parameters for the gripper mechanism.