• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1613-1616
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• 1997

In order to develop a human hand mechanism, a 5-bar finger with redundant actuation is designed and implemented. an optimal set of acutator locations and link lengths for the case of one redundant actuator is obtained by employing a composite design index which simulataneously consider several performance indices such as workspace, isotropic index, and force transmission ratio. Each joing is driven by an compact actuator mechanism having ultrasonic motor and a gear set with poeneiometer an controlled by VME Bus-based control system.

• Communications of the Korean Mathematical Society
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• v.17 no.1
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• pp.175-187
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• 2002

The existence and uniqueness of steady states for the age structured S-I-R epidemic model is considered. Intercohort form with external force is considered for the force of infection. Existence is obtained for nonvanishing external force of infection. Uniqueness is shown for the case where there is no vertical transmission of the disease.

• Journal of Advanced Marine Engineering and Technology
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• v.25 no.5
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• pp.1051-1057
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• 2001

In this paper, we deal with three types of modelling method for the analysis of galloping in power transmission line (PTL). The single mass model is obtained under linearization method and it is applied into f-order model. On these models, the nature frequencies of PTL are obtained and it makes an effects on the galloping directly. In simulation, we verify that the maximum magnitude of nature frequency depends on the galloping distance of PTL. Also from the analysis of frequency response, a few of reduction method for galloping are introduced which is effected by distance of PTL, wind velocity and icing types.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.305-308
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• 2002

The mechanics, electronics and manufacturing technology have been developed rapidly. Nowadays vehicle stability becomes more and more important then ABS (Anti-lo7k Brake System), ASR (Anti-Slip Regulator), TCS, (Traction Control System), ESP (Electronic Stability Program), and VDC (Vehicle Dynamic Control) which actively control the vehicle stability actively has been improved. In this study, instead of automatic transmission, CVT (Continuously Variable Transmission) is used because of the continuously gear ratio changes. It can effectively transfer the torque from engine to tire more than other gear transmission. The modeling is simplified assuming that there are no resistance parameters.

• Proceedings of the KOSOMBE Conference
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• v.1995 no.11
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• pp.52-56
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• 1995

At present many kinds of micro actuators and micro mechanical components have been studied, but force transmission to arbitary direction is difficult using the current method. To solve this problem, a micro hydraulic system is expected to be useful. Force transmission to arbitary direction is necessary to development of medical use micromachine. In this paper, we studied about micro hydraulic system and magnetic fluid micro actuator and micro rapid prototyping system. The result of this studies indicated that possibility of the power transmission that using the micro cylinder system.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.138-144
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• 2006

Kinematic and dynamic characteristics of a Stewart platform based parallel manipulators are fixed once they are constructed. Thus parallel manipulators with various configurations are required to meet a variety of applications. In this research a parallel manipulator with variable platform (PMVP) has been developed, in which the length of the arm linking the platform center to the platform-leg contact point can be varied by an actuator. The workspace of the PMVP is larger than that of a traditional Stewart platform and especially the range in which the maximum orientation angles can be maintained is significantly expanded. Furthermore, the characteristics of force and moment transmission between the legs and platform can be adjusted to meet the requirements of various tasks. Kinematic and dynamics analysis was performed to verify the usefulness of the PMVP and the actual hardware was built to demonstrate the feasibility.

• Structural Engineering and Mechanics
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• v.55 no.4
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• pp.839-856
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• 2015

A multi-contact tooth meshing model for helical gear pairs considering bearing and shaft deformations is proposed. First, to easily incorporate into the system model, the complicated Harris' bearing force-displacement relationship is simplified applying a linear least square curve fit. Then, effects of shaft and bearing flexibilities on the helical gear meshing behavior are implemented through transformation matrices which contain the helical gear orientation and spatial displacement under loads. Finally, true contact lines between conjugated teeth are approximated applying a modified meshing equation that includes the influence of tooth flank displacement on the tooth contact induced by shaft and bearing displacements. Based on the model, the bearing's force-displacement relation is examined, and the effects of shaft deformation and external load on the multi-contact tooth mesh load distribution are also analyzed. The advantage of this work is, unlike previous works to search true contact lines through time-consuming iterative strategy, to determine true contact lines between conjugated teeth directly with presentation of deformations of bearings and shafts.

• 한국HCI학회:학술대회논문집
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• 2009.02a
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• pp.45-51
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• 2009

In this paper, a transparency analysis and network-adaptive transport scheme are proposed in order to improve transparency of EBA-based force-reflecting teleoperation. EBA guarantees stability of force-reflecting teleoperation over network delay and loss but has limitation that it cannot overcome transparency deterioration of haptic interactions. The proposed transparency analysis quantifies the force feedback distortion caused by network delay and loss. Based on the analysis, the proposed haptic data synchronization and transmission rate control schemes adapt synchronization delay and transmission rate to current network state for more transparent haptic interaction. Through Matlab/Simulink simulations, it is confirmed that the proposed analysis provides an acceptable quantification method about haptic interaction quality and that the proposed haptic data transport scheme effectively improves haptic interaction quality with respect to network delays and losses.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.11
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• pp.2846-2859
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• 1994

This work deals with kinematic analysis of fault-tolerant 3 degree-of-freedom spherical modules which have force redundancies in its parallel structure. The performance of a redundantly actuated four-legged module with no actuator failure, a single actuator failure, partial and half failure of dual actuator are compared to that of a three-legged module, in terms of maximum force transmission ratio, isotropic characteristics, and fault-tolerant capability. Additionally, a system with an excess number of small floating actuators is considered, and the contribution of these small actuators to the force transmission and fault-tolerant capability is evaluated. This study illustrates that the redundant actuation mode allows significant saving of input actuation effort, and also delivers a fault tolerance.

• International Journal of Automotive Technology
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• v.7 no.2
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• pp.161-166
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• 2006

This paper presents shift characteristics of a dual clutch transmission(DCT). To obtain the shift force, dynamic models of the DCT are constructed by using MATLAB/Simulink and considering the rotational inertia of every component and the target pre-select time. Dynamic models of the shift and clutch actuators are derived based on the experimental results of the dynamic characteristics test. Based on the dynamic model of the DCT synchronizer, control actuator and vehicle model, a DCT vehicle performance simulator is developed. Using the simulator, the shift force and speed of the relevant shafts are obtained. In addition, the torque and acceleration of actuators are calculated during the shift process by considering the engaging and disengaging dynamics of the two clutches. It is observed from the performance simulator that uninterrupted torque can be transmitted by proper control of the two clutches.