• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1994.10a
• /
• pp.918-923
• /
• 1994

For the improvement of productivity, the reduction of cost and time for manufacturing is mandatory, especially in the field of electronic industry. The study is concemed with a practical means of systematic assistance to formability estimation and selection of reliable design specification for electronic sheet metal parts. The objective of this research work is to develop a simulation system which helps to analyze the target processes with the finite element method and to acquire available design data quickly and exactly and exactly. The simulation system developed in the study consists of design verification, selection of optimal combination of parameters, knowledge acquisition and graphical user interface(GUI). Design verification is automatically carried out by using the finite element method. A data base management system and nomograms are utilized for knowledge acquistion. The developed system has been applied to some major sheet metal forming operations such as flanging, embossing, bending and blanking. According to the simulated results, the validation of the target processes has been confirmed. Analysis data, estimation rules of formability and graphical representation of the analysis have been employed for the designer's understanfing and evaluation, thus providing a practical means of robot design and evaluation of formability for production electronic sheet metal parts.

• Journal of IKEEE
• /
• v.22 no.4
• /
• pp.1123-1130
• /
• 2018

A cat robot for the Autism Spectrum Disorders(ASD) treatment was designed and conducted field test. The designed robot had emotion expressing action through interaction by the touch, and performed a reasonable emotional expression based on Artificial Neural Network(ANN). However these operations were difficult to use in the various healing activities. In this paper, we describe a motion design that can be used in a variety of contexts and flexibly reaction with various kinds of situations. As a necessary element, the speech recognition system using the speech data collection method and ANN was suggested and the classification results were analyzed after experiment. This ANN will be improved through collecting various voice data to raise the accuracy in the future and checked the effectiveness through field test.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.533-538
• /
• 1991

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link representation to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M. to model complex shaped links systematically and by eliminating elastic mode of higher order that does not largely affect motion to reduce the number of elastic degree of freedom. Finally, presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control,

• Journal of the Korean Society of Industry Convergence
• /
• v.22 no.5
• /
• pp.553-559
• /
• 2019

Various types of nozzles have been used to cope with fire in ships. However, in Korea, precise nozzles that perform fine spraying function are required for fire fighting in case of fire in a ship, and most of these nozzles depend on imports. Therefore, in this study, we developed various types of nozzles to develop the water spray nozzle for evolving fire in the engine room of the ship, and developed an optimal nozzle through flow analysis and fire test. For this purpose, we selected the materials that can satisfy the characteristics of existing nozzle materials and developed the design technology and processing technology in the nozzle considering fluid flow to achieve optimal water spraying performance. In order to develop an optimal nozzle, the flow through the finite element analysis was first analyzed and the nozzle was manufactured. As a result of flow analysis of the developed nozzle, the maximum velocity at the outlets of four holes at 0.3 MPa was about 3m/s and about 0.15 MPa. In addition, when the pressure at the inlet was 1.8 MPa, it showed the outlet speed of about 18m/s and a pressure of 1.2 MPa.

• Journal of Aerospace System Engineering
• /
• v.11 no.6
• /
• pp.26-33
• /
• 2017

We propose a variable frame structure connected with telescopic mast-shaped shaft for a robot displaying outstanding ability to cross obstacles, and for effective traction control. The wireless control system was built to extend and contract a deployable mechanism, which is shaped into a hoberman sphere assembled with frame structures. In order to develop important parameters for efficient locomotion, we derived an Euler-Lagrange equation for the spherical robot. According to the equation, the DC motor was selected. A prototype mechanism was tested and a Finite-Element Analysis (FEA) was conducted in parallel. Using these data, we constructed a deployable spherical robot with structural stability. The deployable robot moved at a speed of 0.85 m/s from 520 mm to 650 mm.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.38 no.12
• /
• pp.1007-1013
• /
• 1989

This paper describes the procedure of kinmatic design of a quadruped walking machine which has better mobility and higher energy efficiency than the wheeled or tracked vehicles on the rough terrain. Specifically, this paper puts much emphasis on the procedure and its rationality of the design of the leg which is the key mechanical element of the walking robot. And it shows the appropriateness of the selected mechanism and the design method through the walking experiment of the prototype machine built upon the resulted design. The pantograph mechanisms are proved to be acceptable as the leg of the walking machine from the experiment even though it is indicated that the walking speed and the body deflection should be improved further. This paper also describes the problems of the realization of the gait the frictional effects along with their causes in the walking experiment.

• Journal of Sensor Science and Technology
• /
• v.25 no.2
• /
• pp.148-154
• /
• 2016

This paper describes the design and fabrication of a two-axis force/torque sensor and an one-axis force sensor with parallel plate beams(PPSs) for measuring forces and torque in an ankle rehabilitation exercise using by a lower rehabilitation robot. The two-axis force/torque sensor is composed of a Fy force sensor and Tz torque sensor and the force sensor detects x direction force. The two-axis force/torque sensor and one-axis force sensor were designed using by FEM(Finite Element Method), and manufactured using strain-gages. The characteristics experiment of the two-axis force/torque sensor and one-axis force sensor were carried out respectively. As a test results, the interference error of the two-axis force/torque sensor was less than 1.56%, the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03% respectively, and the repeatability error and the non-linearity of the one-axis force sensor were less than 0.03% and 0.02% respectively.

• Journal of the Korean Magnetics Society
• /
• v.25 no.6
• /
• pp.198-202
• /
• 2015

This s paper presents characteristics Analysis of Outer Rotor type BLDC Motor. To reduce the cogging torque and to make the high back EMF constant of the motor, Not only magnetization directions of a permanent magnet are investigated, but also a tooth chamfer of a stator is optimized. The design and analysis results are verified with experimental results.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.36 no.12
• /
• pp.1683-1688
• /
• 2012

Topology optimization is applied for the lightweight design of three main parts of a vertical articulated robot: a base frame, a lower and a upper frame. Design domains for optimization are set as large solid regions that completely embrace the original parts, which are discretized by using three-dimensional solid elements. Design variables are parameterized one-to-one to the material properties of each element by using the SIMP method. The objective of optimization is set as the multi-objective form combining the natural frequencies and mean compliances of a structure for which load steps of interest are selected from the multibody dynamics analysis of a robot. The obtained results of topology optimization are post-processed to designs favorable to manufacturability for casting process. The final optimized results are 11.0% (base frame), 12.0% (lower frame) and 10.0% (upper frame) lighter with similar or even higher static and dynamic stiffnesses than the original models.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.26 no.2
• /
• pp.230-237
• /
• 2017

Various drones have extended application area very fast. In this paper, we define two contradictions in designing a portable-size drone by using TRIZ technique. The first is a physical contradiction between high rigidity and good portability, and the second is a technical contradiction between high stability and good portability. Through TRIZ technique, six design principles, which guide direction for optimal design, were driven. Consequently, an umbrella mechanism and design criteria were proposed for a portable-size drone. Detail design is verified through finite element method. Test results for the portable-size prototype drone show good performance, and prove its usefulness to be equivalent to a general full-size drone.