• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.481-488
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• 2000

This paper presents a new passive gravity -compensating system for articulated robot manipulators. The system, which consists of linear zero- free -length springs, achieves exact counterbalancing o f the gravitational loads throughout the entire range of the manipulator workspace, A basic concept is to design springs such that the total potential energy of the system including the manipulator and the springs should be maintained constant. A prototype has been developed for a direct-drive five-bar manipulator and its performances have been investigated. Results show that the gravity-induced motor torques have been reduced to less than 5% of those of uncompensated robots. Also, the gravity-compensating system simplifies the position control algorithm while maintaining the trajectory-tracking errors in a satisfactory level. In conclusion, the proposed system efficiently improves the manipulator performances by reducing the driving motor size and the energy consumption as well as by simplifying the control systems.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.4
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• pp.234-241
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• 2002

In this study, the car crash analysis that simulates the crushing behavior of car forestructure during a frontal impact is carried out. The analysis model for front impact of a car consists of the lumped mass and the spring model. The characteristics value of masses and springs is obtained from the static analysis of a target car. The deceleration-time curve obtained from the simulation are compared with NCAP test data from the NHTSA. They show a good agreement with frontal crash test data. The deceleration-time curve of passenger compartment is classified into 3 stages; beginning stage, middle stage, and last stage. And the behavior of masses at each stage is explained. The effect of stiffness variation on deceleration of passenger compartment is resolved. The maximum loaded peak-time of torque box and dash is the main factor to control the passenger compartment's maximum deceleration.

• Journal of Biosystems Engineering
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• v.33 no.1
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• pp.14-20
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• 2008

An agricultural unmanned helicopter was suggested for an alternative to current pesticide application methods to solve such problems as high cost, low efficiency, shirking task and unsafe work. To pursuit this trend, researches on the development of unmanned helicopters have been accelerated in Korea as well. In this research, a guide type centrifugal clutch that plays an important role in the unmanned helicopter was studied. Theoretical analyses and experimental tests were conducted for designing an optimal clutches. Main design factors of the guide type centrifugal clutch were found to be spring constant, free length of spring, mass of friction sector, contact area, allowable pressure, number of friction sector, friction coefficient, radius of drum, and clutch arrangement. And these design factors could be the functions of engaging engine speed and desired power transfer capacity. The result of the single clutch test showed the power transfer capacity of 14.1 PS at 5,800 rpm and the result of the dual clutch test showed that the capacity of 17.7 PS at 5,600 rpm. These experimental results agreed well the theoretical simulations.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.478-485
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• 2003

Today, although there have been high technical developments of a compressor in the respect of its capacity, it has been so hard to develop in the respect of vibration and noise because mechanical structure of it has originally numerous vibration and noise. However, if we can grasp the point of systematic phenomena of vibration and noise through the understanding of dynamic characteristics in mechanical equipment, it may be possible to consider countermeasures. In this study about a reciprocal compressor, the part of its machinery is modeled as rigid body, and the part of its spring is modeled as flexible body, and then they are analyzed by DADS. Each rigid body and spring are connected with joint torque of a motor is applied to shaft, and pressure is applied to a piston so that a compressor can be revolved. Based on this modeling, influence of a compressor's vibration is analyzed through changes of offset, connecting rod and crank radius In the case of weight balance, it I produced after re-design, and then changes of vibration of a compressor's inside are checked through experiments. These analysis data may help set measures of reducing vibration of a reciprocal compressor.

• Journal of Aerospace System Engineering
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• v.7 no.2
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• pp.1-7
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• 2013

Recently, there are a number of studies over dynamic analysis for minimizing vibration of flexible structures such as solar panel for agility of high-agility satellite. The traditional studies perform dynamic analysis of a solar panel assumed as rigid structure since the stiffness of solar panel is higher than the stiffness of solar panel's hinge spring. However, there are vibrations that have modes of bending and torsion when high-agility satellite rotate speedily. This vibrations result in delaying safety time of satellite or degrading image quality. This paper presents dynamic analysis's technique of satellites including the spring hinge of solar panel and flexible structural solar panel's effects described as the linear equation of motion using Lagrange's theorem, and verifies the validity of an established dynamic analysis's technique of satellites by comparing the finite element method. In addition high-agility satellite's dynamic characteristics of a torque profile are analyzed from the established dynamic analysis's technique of satellites.

• Journal of Biomedical Engineering Research
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• v.22 no.4
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• pp.359-368
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• 2001

A new knee-ankle-foot-orthosis(KAFO) which uses an automatically-controlled electromechanical wrap spring clutch for the knee joint was developed in the present study. It was found that the output voltage from the foot switches of the developed KAFO was proportionally increased with respect to the applied load. The output voltage from the infrared sensor also decreased as the knee flexion angle increased. The knee joint system for the new KAFO weighs only 780g lighter than any other commercially available developed system. In addition, the solenoid reduces the reaction time for the automatic control of the knee joint. The static torque of the clutch was measured for three persons, and it satisfied the normal knee extension moment during the pre-swing. Three-dimensional gait analyses for three different gait patterns (normal gait, locked-knee gait, controlled-knee gait) from five normal subjects were conducted. Controlled-knee gait showed the maximum knee flexion angle of 40.56$\pm9.55^{\circ}$ and the maximum knee flexion moment of 0.20$\pm$0.07Nm/kg at similar periods in the normal gait. Our KAFO system satisfies both stability during stance phase and free knee flexion during the swing phase at the proper period during the gait cycle. Therefore, our KAFO system would be very useful in various low extremity orthotic applications.

• Journal of the Korean Society for Heat Treatment
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• v.35 no.1
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• pp.20-26
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• 2022

This paper was designed to prevent intervertebral disc escape and treatment. we produced downsized lumbar traction bed at home and automated system depending on weight and muscle mass by using 3D print and Arduino to confirm the possibility of prototyping. Hence, we checked muscle mass 10 males in their 20s with different exercise conditions, and it shows that average muscle mass of group who exercised was 56.63kg, and non-exercise group was 50.8 kg. this is shows lumbar repetitive exercise can show the traction therapy effect can be seen traction therapy effect. In addition, we installed wooden doll substitute people with spring and test changing of length. Traction bed has the steps ranging from 1 to 4, in which the motor with torque and rpm, ranging from 4.7 to 5.5 kgf and from 4.5 to 5.3 rpm, respectively. The motor controlled with the voltage of Arduino was operated for the length of the spine to be stretched to 4-5 mm. As increasing the weight of the wooden doll by 10g, it was confirmed that the spring increased by 4-5 mm from the first step to the fourth step.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.12
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• pp.1141-1146
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• 2014

As life expectancy becomes longer, reduction of human muscular strength threatens quality of human life. Many robotic devices have thus been developed to support and help human daily life. This paper deals with a new type of in-wheel actuator that can be effectively used for the robotic devices. BLDC motor, drive board, brake, ARS (Attribute Reference System), and torque sensor are combined in the single actuator module. The torque sensor is used to recognize human intention and the in-wheel actuator drives walking aids in our system. Its feasibility was tested with the active walking aid device equipped with the in-wheel actuator. Based on it, we designed an admittance filter algorithm to react on uphill and downhill drive. By adjusting mass, damping, and spring parameters in accordance with the ARS output, it provided convenient drive to the old on uphill and downhill walks.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.136-142
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• 2013

In nature, many small insects are using jumping as a survival strategy. Among them, fleas jump in a unique method. They use an elastomer, 'Resilin', an extensor muscle and a trigger muscle. By contracting the extensor muscle, the elastic energy, that makes a flea to jump, is stored in the resilin. After storing energy, the trigger muscle begins contracting and pulling the extensor muscle. When the extensor muscle crosses the rotational joint, direction of torque generated from the extensor muscle reverses, 'torque reversal mechanism'. Simultaneously, the elastic energy stored in the resilin releases rapidly and is converted into the kinetic energy. It makes a flea to jump 150 times its body length. In this paper, miniaturized jumping robot using flea-inspired catapult mechanism is presented. This mechanism is based on the 4-bar linkage and the reversal joint and is actuated by Shape Memory Alloy (SMA) coiled springs describing the flea's muscle. The robot prototype is fabricated by SCM process using glass fiber prepregs and a sheet of polyimide film. The prototype is 20mm link length, 34mm width and 2.0g weight and can jump 103cm.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.4
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• pp.2356-2363
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• 2015

This study deals the optimization design with the simulation based design of a coil spring inserted into the lock nut for preventing the screw thread from loosening at the bolted joint when the high-strength steel bolt with the property class of 10.9 is used and the screw torque of 640 to 800 (Nm) is applied. In this study, structural analysis of assembly composed of bolt, nut and coil spring is carried out to evaluate its safety factors on the basis of the equivalent stress with commercial finite element analysis software. And the design strategy to extract the design improvement from these simulation results is established. An iterative process performed with the proposed design strategy is also proposed for improving the performance of the existing design. At the proposed procedure, the feasible design parameters using response surface method are found, and then these parameters are verified to be optimal or not by comparing with the response values and the simulation results obtained from the feasible parameters.