• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1788-1791
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• 1997

In this paper constant-level luffing and time optimal control of a JIB crane is investigated. The crane is assumed to have only the derricking motion. the analysis of plance kinematics provides the relationship between the boom angle and the main hosit motor angle for constant-level luffing. The dynamic equations for the crane are very nonlimear, and therefore they are linearized for the application of the linear control theory. The time optimal control in the perspective of no-sway at the end of boom stroke is investigated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.61.6-61
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• 2001

In this paper, we propose a method to analyze measured data from 3D Laser tracking system and to enhance precision performance of a Cartesian robot. Position data are obtained over the stroke of a Cartesian robot with variable speeds. The measured data is need to model errors with several different sources. In general, the error is a function of part accuracy, assembly accuracy, temperature, and control etc. After the sources of errors are identified, they are used to enhance precision performance. The proposed method is more complete than others because we use very accurate 3D Laser tracking system.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• 제5B권4호
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• pp.317-323
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• 2005

To increase the operating speed of the solenoid actuator, this paper proposed a modified model using a non-magnetic ring, which is welded on the magnetic guide tube, and also presents the characteristic equations, results of Finite Element Method (FEM) analysis for magnetic flux distribution and density in magnetic flux paths, and computer simulation results for the dynamic characteristics of plunger motion according to the stroke and time variation. As well, we proved the non-magnetic ring effect by experiments using prototypes.

• Tribology and Lubricants
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• 제13권2호
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• pp.46-51
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• 1997

Crosshead bearings in two-stroke marine diesel engines are operated under severe conditions of lubrication because the load on the bearing is unidirectional and the sliding speed is very low and oscillatory. In this paper, the motion of journal in a bearing is investigated using the lubrication theory. Several locus paths are presented to show the effects of oil groove size, bearing clearance and oil inlet pressure. It is found that the minimum film thickness is affected by the oil groove and bearing clearance, and the oil groove is an important design factor.

• 한국산업융합학회 논문집
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• 제23권5호
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• pp.875-880
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• 2020

In this paper, a novel 3-DOF hybrid robot with enlarged workspace is presented for high speed applications. The 3-DOF hybrid robot is made up of one linear actuator and 2-DOF planar parallel robot in series. The actuation consists of one ball-screw to make one linear motion and two rotary ball-screws to transmit rotational motion to 2-DOF parallel robot. The workspace can be enlarged according to ball-screw stroke and the moving inertia can be reduced due to locating all the heavy actuators at the fixed base. The inverse kinematics and workspace analyses are presented. The robot prototype and PC-based control system are developed.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 A
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• pp.50-52
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• 1996

The exiting apparatus for rectilinear reciprocating motion has low efficiency because of various mechanical converting equipments from rotary motion. The LOA(Linear Oscillation Actuator) is the rectilinear reciprocating actuator. This paper shows the operating principle of bifiler winding LOA and the comparison the characteristics of thrust force of no tapered moving core type LOA with the tapered one. Through FEM analysis tapered LOA has the lower peak force and longer stroke than no tapered LOA.

• 대한기계학회논문집B
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• 제33권9호
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• pp.722-727
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• 2009

The effect of the intake flow on the spray structure of a high pressure 11-hole fuel injector were examined in a single cylinder optical direct injection spark ignition (DISI) engine. The effects of injection timing and in-cylinder charge motion were investigated using the 2-dimensional Mie scattering technique. It was confirmed that in the homogeneous charge mode, the in-cylinder swirl charge motion played a major role in the fuel spray distribution during the induction stroke rather than the tumble flow. But, in the stratified charge mode, the effect of the in-cylinder charge was not so large that the injected spray pattern was nearly maintained and the increase of in-cylinder pressure by the upward moving piston reduced the fuel spray penetration.

• Journal of Mechanical Science and Technology
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• 제18권11호
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• pp.1949-1960
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• 2004

This paper presents a robot system developed for medical purpose. A 6-degree-of-freedom robot was introduced for physical exercise and rehabilitation. This system was proposed for stroke patients or patients who cannot use one of their arms or legs. The robot system exercises the hemiplegic part based on the motion of normal part of a patient. Kinematic studies on the human body and robot were applied to develop the robotic rehabilitation exercise system. A clamp which acts as an end effector of the robot to hold a patient was designed and applied to the robot to guarantee the safety of patients. The proposed robotic rehabilitation system was verified by simulations and experiments on arm (elbow and shoulder) motion. Patients are expected to be able to exercise various motions by themselves with the proposed robotic rehabilitation system.

• 로봇학회논문지
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• 제10권3호
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• pp.162-170
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• 2015

This paper describes the development of a hand module of NREX (National Rehabilitation Center Robotic Exoskeleton) designed to assist individuals with sustained neurological impairments such as stroke and spinal cord injuries. To construct a simple and lightweight hand module, the robotic hand adopts a mechanism driven by a motor and moved by two four-bar linkages. The motor facilitates the flexion-extension movements of the thumb and the other four fingers simultaneously. Thus, an individual using the robotic hand module can effectively grip and release objects related to daily life activities. The robotic hand module has been designed to cover the range of motion with respect to its link distance. This hand module can be used in therapeutic rehabilitation as well as for daily life assistance. In addition, this hand module can either be mounted on an NREX or used as a standalone module.

• 한국자동차공학회논문집
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• 제8권6호
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• pp.267-278
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• 2000

Vehicle dynamic models in handing and stability analysis are divided into three groups: bicycle model, roll axis model and full vehicle model. Bicycle model is a simple linear model, which hag two wheels with load transfer being ignored. Roll axis model treats left and right wheels independently. In this model, load transfer has a great effect on nonlinearity of tire model. Effects of suspension system can be analyzed by using full vehicle model, which is included suspension stroke motions. In this paper, these models are validated and compared through comparison with road test, and the effects of suspension kinematics and compliance characteristics on vehicle motion are analyzed. In handling and stability analysis, roll axis model can simulate the real vehicle motion more accurately than full vehicle model. Compliance steer has a significant effect, but the effect of suspension kinematics is negligible.