• 한국공작기계학회논문집
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• 제16권1호
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• pp.92-97
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• 2007

This study was carried out to minimize the lifting force and to design the slim sized frame of a height adjustment mechanism. This unit is designed for the display devices in order to enhance the ergonomics for effective height adjustment as well as to achieve much slimmer frame for the pedestal. A tolerance analysis of 6 sigma was applied to achieve smooth lift at design stage not to change the tolerance specification of gap several times in a roller type of lifting mechanism at mass production stage. The specification of minimum gap and the target of production yield ratio were agreed with a quality team before tooling. A DFSS simulation on drawings had been done with reasonable tolerance and achievable standard deviation(${\sigma}$) several times until the target specification of gap and yield ratio was met. Once tolerance and deviation(${\sigma}$) were fixed tooling start was done successfully. A CAE method was applied to achieve a slim design. Design parameters were frozen when those parameters matched the reference strength data of standard model. Through those tolerance analysis and CAE simulation the number of tool modification was reduced and production yield ratio was raised up without arguing quality specification at production stage in the end.

• 제어로봇시스템학회논문지
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• 제22권12호
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• pp.1011-1020
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• 2016

This paper introduces a tactilely transparent soft glove composed of soft materials and flexible structures. Although it is hard to achieve a high grasping force with conventional grip-assist gloves made from soft material, the proposed glove can exert a high force by using a novel structure. This structure has a triangular shape composed of flexible structural frames, soft fabric, and belts. It can produce grip-assist moment compliantly without harmful force or misalignment with the human fingers. The whole finger part that comes into contact with objects is made of thin and soft fabric in order to facilitate sensation transference. The proposed tactilely transparent soft glove enables the user to manipulate various objects owing to both the softness and high grasping force; it helps lifting heavy weight objects as well as permitting delicate tactile feeling on the palm and fingers. The proposed concept was applied to a two-finger grip-assist device for validation. In addition, the experimental results regarding grasping objects, fingertip force, and grasping force are presented.

• 드라이브 ㆍ 컨트롤
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• 제18권4호
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• pp.19-27
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• 2021

A bunker bed is a type of furniture that efficiently utilizes a narrow indoor space by having a high bed and using the empty space below as a living and storage space. The demand for multi-purpose furniture is increasing due to the recent increase in single-person households and wide-spread shared accommodation. According to the consumer research, one of the major drawbacks of a bunker bed was to get on and off the bed through a ladder or stairs. In order to overcome these problems, it was confirmed that the height adjustment function that can easily adjust the minimum and maximum heights of the bed was necessary. In this study, a height adjustable bunker bed was designed by using a gas spring that generates a repulsive force by the compressed gas inside. The design process consisted of the following three steps: Firstly, the hysteresis characteristics due to a friction and spring constant of a commercial gas spring were confirmed by measuring the repulsive force vs. compressed displacement. Secondly, requirements of the vertical lifting force exerted on the bed against gravity force were derived. Finally, the height-adjustable bed using the four-bar link mechanism was designed with 4 parameters so that the bed weight of 60-70 kgf could be adjusted to 800 mm in height by an affordable initial operation force. The performance was verified through prototype production and the results of vertical displacement and force to move were nearly the same as designed. In addition, an electrically operated height-adjustable bed was also designed with linear actuators and the performance was proved with the prototype.

• 대한조선학회논문집
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• 제33권1호
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• pp.27-39
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• 1996

잠수체(strut)에 부착된 핀(fin)의 자유표면 효과를 회류수조를 사용하여 실험적으로 연구하였다. 본 연구에서는 주로 유속(V), 핀의 앙각(${\alpha}$)과 핀의 몰수깊이 대 현장비, 즉 몰수비(H/C)에 따른 핀의 양력을 축정하였으며, 지주가 없는 핀만의 양력을 측정하여 지주에 부착된 핀의 양력과 비교함으로써 핀에 미치는 지주의 영향도 관찰하였다. 유동가시화를 통하여 지주만 있을 때와 핀이 부착되어 있을 때의 앙각에 따른 자유표면의 변화를 조사하였다. 이와 같은 실험들은 대체로 몰수비가 작은 영역을 중심으로 수행되었다. 본 연구의 결과로는 핀의 양력계수(CL)는 작은 몰수비(H/C<3.0)의 경우 자유표면의 영향을 크게 받으며, 큰 몰수비(H/C>5.0)인 경우는 자유표면의 영향을 거의 무시할 수 있다. 작은 몰수깊이에서 핀의 유입앙각도 지주와 유속에 의해 크게 영향을 받는다. 자유표면의 변형은 지주에 의한 조파현상이 지배적인 역할을 하고 있으나 핀의 몰수깊이가 작을 경우는 핀의 영향도 크게 작용한다.

• 대한기계학회논문집A
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• 제29권2호
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• pp.188-200
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• 2005

Control of a multi-fingered robotic hand is usually based on the theoretical analysis for kinematics and dynamics of fingers and of object. However, the implementation of such analyses to robotic hands is difficult because of errors and uncertainties in the real situations. This article presents the control method for estimating the kinematic constraint of an unknown object by active sensing. The experimental system has a two-fingered robotic hand suspended vertically for manipulation in the vertical plane. The fingers with three degrees-of-freedom are driven by wires directly connected to voice-coil motors without reduction gears. The fingers are equipped with three-axis force sensors and with dynamic tactile sensors that detect slippage between the fingertip surfaces and the object. In order to make an accurate estimation for the kinematic constraint of the unknown object, i.e. the constraint direction and the constraint center, four kinds of the active sensing and feedback control algorithm were developed: two position-based algorithms and two force-based algorithms. Furthermore, the compound and effective algorithm was also developed by combining two algorithms. Force sensors are mainly used to adapt errors and uncertainties encountered during the constraint estimation. Several experimental results involving the motion of lifting a finger off an unknown object are presented.

• 한국철도학회논문집
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• 제8권4호
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• pp.342-347
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• 2005

The Korean High-Speed Train(HSR 350x) had been developed by through 'G7-R&D project' in 1996-2002, and has been testing and evaluating it's reliability on the high-speed line until now. A number of core equipments designed and developed by using domestic technologies were boarded on the HSR 350x. In order to verify the performance of HSR 350x and core equipments such as traction system, brake system and pantograph, sophisticated testing and evaluating procedures should be considered and applied. In this paper, the tested and analysed results about the dynamic characteristics of HSR 350x pantograph are introduced in a view point of the mean contact force and it's variation trend, criterion of current collection, and up-lifting of contact wire when the MSR 350x running up to 350 km/h. Through the test and evaluation, we verified that HSR 350x pantograph had an excellent current collection performance and good dynamic characteristics as it had been designed.

• 로봇학회논문지
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• 제18권1호
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• pp.29-36
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• 2023

This paper shows a design of a gripper with an adjustable working area to depalletize a delivery cardboard box of various sizes. The gripper should pick the box with only one flat surface to lift the boxes stacked close to each other. The lift force of the gripper is the vacuum suction force. To handle boxes of various sizes, the gripper adjusts the working area. The gripper operates four vacuum generators independently. The simultaneous rotation on different axes of four gripper-arms with suction cups moves the position of suction force. The six operation modes of the gripper are divided into the size of the working area. The operation mode is determined according to the size of the top side of the box. Experiments are conducted by lifting the box of various sizes. The gripper can pick the box of various sizes without vacuum leaks from unused cups. Also, the experiments verify the improvement of stability of the box by adjusting the working area of the gripper. The gripper can lift the box without deformation of the box by adjusting the working area.

• 한국콘텐츠학회논문지
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• 제19권5호
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• pp.624-631
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• 2019

본 연구에서는 리프터의 점착력이 분말 처리된 지문에 미치는 영향에 대하여 알아보고자 하였다. 먼저 5종의 리프터의 점착력을 측정하는 실험을 수행하였다. 그런 다음 4종의 분말로 슬라이드 글라스에 유류된 지문을 현출하고 리프터로 전사한 뒤, 전사된 지문의 품질을 측정하였다. ASTM D3121-17 (Rolling ball tack test) 방법을 사용하여 리프터의 점착력을 측정한 결과, 젤라틴 리프터를 제외한 다른 리프터 간의 점착력 차이는 근소하였다. 또한, 전사된 지문의 품질은 리프터의 점착력과 유의한 관계가 없음을 확인하였다. 그러나 약한 점착력을 가진 젤라틴 리프터로 전사할 경우 전사된 지문의 품질이 좋지 않다면 추가적인 전사가 가능하다는 장점이 있다.

• International Journal of Automotive Technology
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• 제6권3호
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• pp.221-227
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• 2005

Aim of this study is to investigate an aerodynamic effect of a drag-reducing device on a heavy-duty truck. The vehicle experiences two different kinds of aerodynamic forces such as drag and uplifting force (or downward force) as it is traveling straight forward at constant speed. The drag force on a vehicle may cause an increase of the rate of fuel consumption and driving instability. The rolling resistance of the vehicle may be increased as result of the negative uplifting or downward force on the vehicle. A device named roof-fairing system has been applied to examine the reduction of aerodynamic drag force on a heavy-duty truck. As for a engineering design information, the drag-reducing system should be studied theoretically and experimentally for the best efficiency of the device. Four different types of roof-fairing model were considered in this study to investigate the aerodynamic effect on a model truck. The drag and downward force generated by vehicle has been obtained from numerical calculation conducted in this study. The forces produced on four fairing models considered in this study has been compared each other to evaluate the best fairing model in terms of aerodynamic performance. The result shows that the roof-fairing mounted truck has bigger negative uplifting or downward force than that of non-mounted truck in all speed ranges, and drag force on roof-fairing mounted truck has smaller than that of non-mounted truck. The drag coefficient $(C_D)$ of the roof-fairing mounted truck (Model-3) is reduced up to $41.3\%$ than that of non-mounted trucks (Model-1). A downward force generated by a roof-fairing mounted on a truck is linearly proportional to the rolling resistance force. Therefore, the negative lifting force on a heavy-duty truck is another important factor in aerodynamic design parameter and should be considered in the design of a drag-reducing device of a tractor-trailer. According to the numerical result obtained from present study, the drag force produced by the model-3 has the smallest of all in all speed ranges and has reasonable downward force. The smaller drag force on model-3 with 2/3h in height may results of smallest thickness of boundary layer generated on the topside of the container and the lowest intensity of turbulent kinetic energy occurs at the rear side of the container.

• 대한기계학회논문집A
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• 제35권1호
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• pp.115-120
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• 2011

본 논문에서는 해양 풍력발전기를 해상 크레인으로 리프팅하기 위해 두 개의 탄성 붐을 가진 해상 크레인을 모델링 하고 동적 거동을 시뮬레이션 하였다. 운동 방정식은 강체와 탄성체가 포함된 다물체계 동역학을 기반으로 구성하였다. 외력으로는 유체정역학 힘, 규칙파에 의한 유체동역학 힘, 와이어로프의 장력, 계류력, 그리고 중력이 고려되었다. 두 개의 탄성 붐을 사용한 시뮬레이션 결과는 탄성 붐 한 개를 사용한 경우와 비교하여 모델의 타당성을 검증하였다. 5-MW(megawatt)급 해양 풍력 발전기를 해상 크레인이 리프팅하는 경우에 대해 동적 거동을 시뮬레이션하고 그 결과를 분석하였다.