• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.573-574
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.783-784
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• 2009

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.1-7
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• 1998

Robots utilized in the field of welfare or agriculture should be light in weight and flexible in structure. A pneumatic actuator has properties such that it is more powerful compared with a motor of same weight, and that it is flexible, clean and unexplosive. In this paper we propose a new structure of the pneumatic actuator with two-degree-of-freedom. By using proposed pneumatic actuators, we can easily construct multi-degree-of-freedom pneumatic manipulators. Here we constructed a fourteen-degree-of-freedom pneumatic dual manipulator. The performance of the dual manipulators is confirmed through experiments for ball-handling with impedance control. In the experiments several control schemes, including the decentralized control and the simple adaptive control (SAC), were used. The results show that a flexibility of the pneumatic actuator is appropriate to accomplish the coordinative motion of the right and left arms of the robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.304-307
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• 2004

As optical fiber communication grows, the fiber alignment become the focus of industrial attention. This greatly influence the overall production rates for the opto-electric products. We proposed multi-axis nano positioning stage for optical fiber alignment. This device has 3 DOF translation and sub nanometer resolution. This nano stage consist of 3 PZT-driven flexure stages which are stacked parallel. The displacement of it is measured with capacitance gauge and is controlled by computer-embedded main controller. The design process of flexure stage using FEM is proposed and the performance evaluation of this system is verified with experiments.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.213-218
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• 2004

As optical fiber communication grows, the fiber alignment become the focus of industrial attention. This greatly influence the overall production rates for the opto-electric products. We proposed multi-axis nano positioning stage for optical fiber alignment. This device has 3 DOF translation and sub nanometer resolution. This nano stage consist of 3 PZT-driven flexure stages which are stacked parallel. The displacement of it is measured with capacitance gauge and is controlled by computer-embedded main controller. The design process of flexure stage using FEM is proposed and the performance evaluation of this system is verified with experiments.

• 한국산업융합학회 논문집
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• 제25권4_2호
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• pp.655-662
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• 2022

Recently, with the increase in the use of UAV(unmanned aerial vehicles), research on horizontal maintenance stations that can take off and land in various environments has been actively conducted. These stations can safely land UAV through multiple DOF(degrees of freedom) or at least 2-DOF-based actuator actuation. Among them, many researchers are dealing with the multi-DOF stewart platform due to its high safety. However, the stewart platform requires high-precision control technology because it requires a lot of torque to actuate according to the load action. Therefore, in this paper, to solve the mentioned problem, a bevel gear-based 2-DOF horizontal maintenance station system is proposed. The proposed system is configured to prevent damage due to air resistance when maintaining ships and to install it in a small space. Also, in terms of system configuration, the bevel gear-based horizontal maintenance system has the main advantage of being able to take off and land UAVs of various sizes through the replacement of station pads. The driving of the system consists of a simple form that can control the motor by adjusting the rotation speed of the motor according to the sea waveform.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.939-944
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• 2007

Generally, development of a robot capable of fast movements or high payloads is progressed by the analysis of dynamic characteristics, DOF positioning, actuator selection, structure of links, and so on. This paper highlights the design of a robot manipulator handled by a human for man-machine cooperation. The requirements of the proposed system include its having multi-DOF(Degree of Freedom)and the capacity for a high payload in the condition of its maximum reach. The primary investigation factors are motion range, performance within the motion area, and reliabilityduring the handling of heavy materials. Traditionally, the mechanical design of robots has been viewed as a problem of packaging motors and electronics into a reasonable structure. This process usually transpires with heavy reliance of designerexperience. Not surprisingly, the traditional design process contains no formally defined rules for achieving desirable results, as there is little opportunity for quantitative feedback during the formative stages. This work primarily focuses on the selection of proper joint types and link lengths, considering a specific task type and motion requirements of the heavy material handling.

• 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.

• Architectural research
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• 제14권3호
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• pp.99-108
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• 2012

An innovative multi-story Semi-Active Tuned Mass Damper (SATMD) building system is proposed to control seismic response of existing structures. The application of adding new stories as large tuned mass and semi-active (SA) resettable actuators as central features of the control scheme is derived. For the effective control of the structures, the optimal tuning parameters are considered for the large mass ratio, for which a previously proposed equation is used and the practical optimal stiffness is allocated to the actuator stiffness and rubber bearing stiffness. A two-degree-of freedom (2-DOF) model is adopted to verify the principal efficiency of the suggested structural control concept. The simulations for this study utilizes the three ground motions, from SAC project, having probability of exceedance of 50% in 50 years, 10% in 50 years, and 2% in 50 years for the Los Angeles region. 12-story moment resisting frames, which are modified as '12+2' and '12+4' story structures, are investigated to assess the viability and effectiveness of the system that aims to reduce the response of the buildings to earthquakes. The control ability of the SATMD scheme is compared to that of an uncontrolled and an ideal Passive Tuned Mass Damper (PTMD) building system. From the performance results of suggested '12+2' and '12+4' story retrofitting case studies, SATMD systems shows significant promise for application of structural control where extra stories might be added.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1717-1722
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• 2003

In this paper we developed flip-chip bonder using XY stage, liner-rotary actuator and vision system. We depicted the major parts of the developed flip-chip bonder. Then we discussed several problems and their solutions such as vision and motion control, pick-up module position accuracy, separation of chip from the blue taped hoop, etc. We used a post guide to improve the horizontal positional accuracy against the long arm. Also, we used an ejector module and synchronization technique for easy chip separation from the blue tape.