• 산업경영시스템학회지
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• 제34권4호
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• pp.66-71
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• 2011

This article proposes a novel shift automation mechanism for an automated manual transmission (AMT). The development of an automated manual transmission is currently being paid considerable attention by vehicle manufacturers, with the prospects of combining the comfort of an automatic transmission and the high efficiency of a manual transmission. In order to automate the shift mechanism of a manual transmission, the proposed shift automation mechanism consists of two electric motors, cross shaped pinion gears, rack type shift rails, and a ball splined hollow shaft. First we describe the shift mechanism and operating principles of a manual transmission to investigate important design criteria for the shift automation device. And a new shift automation mechanism is described with its structure, elements, and operating principles in detail. Using a conventional manual transmission, we develop a full three-dimensional CAD model of an AMT which includes main components of the manual transmission and the designed shift automation mechanism. Finally we investigate the operating performances and feasibility of the designed AMT by a dynamic analysis.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.1059-1063
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• 2005

Development of a feed drive-system with high speed, positioning accuracy and thrust has been an important issue in modern automation systems and machine tools. Linear motors can be used as an efficient system to achieve such technical demands. By eliminating mechanical transmission mechanisms such as ball screw or rack-pinion, much higher speeds and greater acceleration can be achieved without backlash or excessive friction. However, due to great power loss and magnetic attraction of the linear motors heating and deflection problems occur. Therefore, it is necessary to design strong structure, cooling device with high efficiency and light weight construction in designing stage of linear motors. This paper presents an investigation into a structural design of linear motor system. In this research, a new concept of moving table with high stiffness and of cooling plate is also introduced. Structure analyses are performed by using a commercial code ANSYS in order to evaluate the design safety.

• 한국산학기술학회논문지
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• 제12권11호
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• pp.4738-4744
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• 2011

본 연구는 상부에 설치되는 콘크리트 구조물 없이 설치되어 작동하는 새로운 소형 수문 시스템을 제안하였다. 주요 메커니즘은 유압시스템, 수문 상하 이송 메커니즘, 수문 잠금 제어장치, 이물질이 감지되면 수문이 파손되지 않도록 하는 안전장치 등으로 구성하였다. 유압 펌프 및 제어 시스템은 수문 시스템의 위치에서 떨어진 장소에 설치하여 상부 구조물을 제거할 수 있도록 하여 제어 하였다. 수문 인양 장치는 유압 액추에이터가 달린 래크와 피니언이 측면에 설치되어 작동되며 그 결과 제품의 원가 절감, 작동시 안전성 확보 및 제품의 컴팩트화를 구현하였다.

• 로봇학회논문지
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• 제19권1호
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• pp.58-64
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• 2024

The ability of the robot gripper to handle a wide range of objects significantly impacts its operational effectiveness. Among the robot grippers commonly used, the economically feasible choice is the relatively simple structure of a parallel gripper. To perform more densely packed tasks with a parallel gripper, it should be capable of handling small objects. Therefore, this study designs a parallel gripper mechanism equipped with assisting grippers to ensure smooth grasping of small objects. The parallel gripper is designed using a rack and pinion gear system, with two additional grippers on both side, and these assisting grippers are designed to be detachable. The two assisting grippers have different type of tip to grasp thin fabric shapes and thin stick shapes. The gripper prototype is used to verify the grasping capabilities for shapes achievable with a conventional parallel gripper and those intended for grasping with the assisting grippers through grasping experiments. Consequently, by equipping a conventional parallel gripper with assisting grippers as in this study, it becomes capable of handling a broader range of objects, in addition to its existing functionality.

• International Journal of Control, Automation, and Systems
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• 제4권6호
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• pp.748-755
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• 2006

In this paper, a trade-off design and fabrication of IPMC(Ionic Polymer Metal Composites) as an actuator for a flapping device have been described. Experiments for the internal solvent loss of IPMCs have been conducted for various combinations of cation and solvent in order to find out the best combination of cation and solvent for minimal solvent loss and higher actuation force. From the experiments, it was found that IPMCs with heavy water as their solvent could operate longer. Relations between length/thickness and tip force of IPMCs were also quantitatively identified for the actuator design from the tip force measurement of 200, 400, 640, and $800{\mu}m$ thick IPMCs. All IPMCs thicker than $200{\mu}m$ were processed by casting $Nafion^{TM}$ solution. The shorter and thicker IPMCs tended to generate higher actuation force but lower actuation displacement. To improve surface conductivity and to minimize solvent evaporation due to electrically heated electrodes, gold was sputtered on both surfaces of the cast IPMCs by the Physical Vapor Deposition(PVD) process. For amplification of a short IPMC's small actuation displacement to a large flapping motion, a rack-and-pinion type hinge was used in the flapping device. An insect wing was attached to the IPMC flapping mechanism for its flapping test. In this test, the wing flapping device using the $800{\mu}m$ thick IPMC. could create around $10^{\circ}{\sim}85^{\circ}$ flapping angles and $0.5{\sim}15Hz$ flapping frequencies by applying $3{\sim|}4V$.

• 한국정밀공학회지
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• 제28권1호
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• pp.40-47
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• 2011

Mobile harbor which is a novel concept of ocean transportation to bring the containers from the cargo ship waiting on the ocean away is being focused now. To provide the mobile harbor with the stable loading/unloading condition, it is necessary to develop the oscillation mitigation technologies such as anti-rolling system. Anti-rolling system using AMD(Active Mass Driving) has merits that it can handle the disturbances more actively and mitigate the rolling oscillation faster than other type anti-rolling system. However, rack-and-pinion type AMD has problems such as big friction noise from gears and motor, wear and tear, and continuous maintenance. In this paper, novel anti-rolling system using Maglev type AMD for mobile harbor is suggested in order to resolve the problems caused by the friction. This novel anti-rolling system doesn't make any friction because it supports the moving mass by using magnetic levitation force and moves it by using propulsion force from the linear motor. The demo system of the novel anti-rolling system using maglev type AMD has been developed in order to investigate its feasibility. This paper presents the procedures and results of development of this demo system.

• 한국정밀공학회지
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• 제22권12호
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• pp.51-60
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• 2005

This paper describes a robust control scheme for high-speed and long stroke scanning motion of high precision linear motor system consisting of linear motor, air bearing guide and position measurement system using heterodyne interferometer. Nowadays, semiconductor process and inspection of wafer or LCD need high speed and long travel length for their high throughput and extremely small velocity fluctuations or tracking errors. In order to satisfy these conditions, linear motor system are widely used because they have large thrust force and do not need motion conversion mechanisms such as ball screw, rack & pinion or capstan with which the system are burdened. However linear motors have a problem called force ripple. Force ripple deteriorates the tracking performances and makes periodic position errors. So, force ripple must be compensated. To maximize the tracking performance of linear motor system, we propose the control scheme which is composed of a robust control method, Time Delay Controller (TDC) and a feedforward control method, Zero Phase Error Tracking Control (ZPETC) for accurate tracking a given trajectory and an adaptive force ripple compensation (AFC) algorithm fur estimating and compensating force ripple. The adaptive ripple compensation is continuously refined on the basis of tracking error. Computer simulation results based on modeled parameters verify the effectiveness of the proposed control scheme for high-speed, long stroke and high precision scanning motion and show that the proposed control scheme can achieve a sup error tracking performance in comparison to conventional TDC control.

• International Journal of Naval Architecture and Ocean Engineering
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• 제9권3호
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• pp.239-245
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• 2017

As a new technical approach, wave energy converter by using vertical motion of water in the multiple water chambers were developed to realize actual wave power generation as eco-environmental renewable energy. And practical use of wave energy converter was actually to require the following conditions: (1) setting up of the relevant device and its application to wave power generation in case that severe wave loading is avoided; (2) workability in installation and maintenance operations; (3) high energy conversion potential; and (4) low cost. In this system, neither the wall(s) of the chambers nor the energy conversion device(s) are exposed to the impulsive load due to water wave. Also since this system is profitable when set along the jetty or along a long floating body, installation and maintenance are done without difficulty and the cost is reduced. In this paper, we describe the system which consists of a float, a shaft connected with another shaft, a rack and pinion arrangement, a ratchet mechanism, and rotary type generator(s). Then, we present the dynamics model for evaluating the output electric power, and the results of numerical calculation including the effect of the phase shift of up/down motion of the water in the array of water chambers aligned along the direction of wave propagation.

• 대한기계학회논문집A
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• 제31권1호
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• pp.36-42
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• 2007

This paper presents mechanical design, fabrication and test of a biomimetic fish robot actuated by a unimorph piezoceramic actuator, LIPCA(Lightweight Piezo-Composite curved Actuator.) We have designed a linkage mechanism that can convert bending motion of the LIPCA into the caudal fin movement. This linkage system consists of a rack-pinion system and four-bar linkage. Four types of artificial caudal fins that resemble caudal fin shapes of ostraciiform subcarangiform, carangiform, and thunniform fish, respectively, are attached to the posterior part of the robotic fish. The swimming test under 300 $V_{pp}$ input with 0.6 Hz to 1.2 Hz frequency was conducted to investigate effect of tail beat frequency and shape of caudal fin on the swimming speed of the robotic fish. At the frequency of 0.9 Hz, the maximum swimming speeds of 1.632 cm/s, 1.776 cm/s, 1.612 cm/s and 1.51 cm/s were reached for fish robots with ostraciiform, subcarangiform carangiform and thunniform caudal fins, respectively. The Strouhal number, which means the ratio between unsteady force and inertia force, or a measure of thrust efficiency, was calculated in order to examine thrust performance of the present biomimetic fish robot. The calculated Strouhal numbers show that the present robotic fish does not fall into the performance range of a fast swimming robot.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2005년도 춘계종합학술대회
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• pp.959-962
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• 2005

서보 모터는 컴퓨터와 센서로부터 오는 지령에 대해 높은 위치 정밀도와 정확한 속도제어가 가능해 자동화 시스템에서 중요한 부분으로 사용된다. 본 논문에서는 선형추진 BLDC모터로부터 얻어지는 파라메터를 추정하여 정현여자에 의해 구동되는 방식을 제안했다. 파라미터 추정은 제어기의 게인 튜닝과 외란 관측기를 통해 이루어졌다. 이러한 것을 가능하게 하기 위해 DSP(TMS320F240)를 사용하여 시스템을 구성 하였으며 FOC(Field Oriented Control)방식을 적용하였다. 본 시스템에 사용 된 TMS320F240은 A/D Converter와 PWM 발생부, 다수의 IO Port를 내장하고 있어 서보모터 제어에 유용하게 사용될 수 있는 프로세서이다.