• 대한기계학회논문집A
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• 제29권11호
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• pp.1534-1541
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• 2005

Unlike industrial manipulators, the manipulators mounted on service robots are interacting with humans in various aspects. Therefore, safety has been one of the most important design issues. Many compliant robot arms have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safety mechanism based on passive compliance is proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safety mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of this mechanism is verified by simulations and experiments. It is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms or active methods.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.180-185
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• 2004

Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.30.3-30
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• 2001

In this paper, we designed the 6-wheeled mobile robot (6-WMR) with the passive linkage mechanism which enables 6-WMR to passively adapt to the given stairs. To overcome the limit of adaptability to the terrain of conventional WMR and improve the energy efficiency, we proposed the new WMR using the passive linkage mechanism. The passive linkage mechanism consists of the simple four-bar linkage mechanism which allows 6-WMR to climb stairs with adaptability and an additional link which is connected to the four-bar linkage mechanism by a pin-slot joint to enable 6-WMR to passively go up the stairs. We made a miniature model of the proposed 6-WMR ...

• 로봇학회논문지
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• 제9권2호
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• pp.124-131
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• 2014

The robot mechanisms that were previously researched had only been conducted for the purpose of overcoming the obstacles stably at low speed driving and enhancing the stability against high speed circuitous driving, and yet, the mechanism satisfying two purposes. However, in order to stably drive with high speed on rough terrain, there is a need for satisfying both of these purposes, as well as testing the efficiency of the mechanisms at high speed driving. There, this paper simulated some of the passive mechanisms and focused on checking the performances of passive mechanisms through simulations and analyzing each mechanism on the basis of an evaluation index. The simulation was conducted by Adams (The Multi-body Dynamics Simulation Solution) and used various types of passive mechanisms which were introduced in the robotics field. As a result, the study confirmed that passive mechanisms have a number of situations that affect the driving stability on each direction of roll and pitch. Further study is needed about active mechanism.

• 한국군사과학기술학회지
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• 제11권3호
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• pp.161-168
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• 2008

The deployable space structure is necessary to minimize the satellite volume and launch cost. For the deployment, passive deployment mechanism has widely been used to attenuate a latch shock induced when the structure is just fully deployed. To reduce the latch shock, viscous damper is applied to the passive deployment mechanism and it can control the deployment speed of the structure. In this paper, dynamic analysis of the deployable space structure using the passive deployment mechanism with the viscous damper has been performed. The viscous damping values have been optimized through numerical simulation. The satellite's attitude influenced by pyro activation for the release of the structure has also been investigated.

• 한국정밀공학회지
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• 제31권10호
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• pp.929-934
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• 2014

Reaction force compensation (RFC) mechanism can relieve the vibration of base system caused by acceleration and deceleration of mover. In this paper, we propose a new passive RFC mechanism with a movable additional mass to reduce vibration of the system base as well as displacement of the magnet track. First, equation of motion for the new passive RFC mechanism is derived and simulated to tune design parameters such as masses and spring coefficients. Simulation results show that the vibration of the system base of the stage with the new RFC mechanism.

• 한국지반공학회지:지반
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• 제12권6호
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• pp.21-36
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• 1996

흙과 Geogrid사이의 응력 전달은 마찰저항 및 수동저항으로 나눌 수 있는데 Geogrid의 횡방향 요소에 작용하는 수동저항은 그 메카니즘이 복잡하여 아직까지 거동이 명확하게 파악되지 못하고 있다. 이러한 수동저항의 메카니즘을 이해하기 위하여 돌기가 있는 보강재에 대한 직접 전단시험을 유한 요소 방법으로 해석하였다. 유한 요소해석으로 돌기의 간격에 따라 수동저항의 크기, 파괴형태, 응력 및 변형 분포 등을 분석하였으며 일 결과들을 실제 계측치와 비교 분석하여 Geogrid의 횡방향 요소에 작용하는 보강재의 수동저항의 거동을 파악하도록 하였다. 또한 흙의 종류에 따라 수동저항의 메카니즘을 파악하기 위해 점성토에 작용하는 수동저항의 거동을 예측하였다.

• 로봇학회논문지
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• 제12권2호
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• pp.107-115
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• 2017

In this paper, four-bar linkage mechanism for the knee joint is developed which is used in prosthetics. But unlike the prosthetics, the feature of this mechanism is that the instantaneous center of rotation of the four-bar linkages can be moved behind the ground reaction force vector so that it can be passively supported without any external power. In addition, this mechanism is developed similar to the structure of the human knee joint for eliminating the sense of heterogeneity of the wearer. In order to design the mechanism with these two objectives, optimization design process is done using the PIAnO tool and detailed design is carried out through optimized variable values. The developed mechanism is attached to the robot which can assist the hip and ankle joints. In order to verify the operation of the developed knee mechanism, an insole type sensor was attached to the shoes to compare data values before and after wearing the robot. Result data showed that wearer wearing the exoskeleton robot with the knee mechanism was the same value regardless of whether the heavy tool is loaded or not.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.725-730
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• 2004

This paper has regarded mechanism design of cane-like passive type walking aid for the elderly using 3-RPS parallel manipulator. First, gait patterns of the elderly have been experimented. By means of motion capturing and image processing, we decided loaded forces and places of the cane when the elderly walked with a cane. Using these results we have developed a passive type walking aid. Second, the walking pattern has been simulated using dynamic analysis program, ADAMS and we find out the similarity between the real walking and the simulated walking. Finally after assuring the similarity, with adjusting the new mechanism design to the simulated walking we will decide whether the walking aid is safe and stable when the elderly walks with this cane-like walking aid. This paper will be basis for the development of the mechanism design applying 3-RPS parallel manipulator.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.520-524
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• 2004

In this work, a novel spherical 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof type serial subchain. Three RRPS serial subchains alone may form a structure of 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism within 3-DOF spherical space. The closed form solutions of position analysis of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.