• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.2
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• pp.152-158
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• 2009

In this paper, the right arm was modelled by muscle-skeleton elements to obtain the behavior of right arm of human under impact condition, where physical and geometrical properties of human body such as Young's modulus, shear modulus, cross sectional area, length, density, moment of inertia and position were defined. Based on the numerical model of the right arm, the impact response of the right arm was obtained. By the comparison with the experimental results, the model of the right arm was verified.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.345-348
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• 1997

In this paper, a motion control algorithm is developed using a fuzzy control and the optimization of performance function, which makes a robot arm avoid an unexpected obstacle when the end-effector of the robot arm is moving to the goal position. During the motion, if there exists no obstacle, the end-effecter of the robot arm moves along the pre-defined path. But if there exists an obstacle and close to the robot arm, the fuzzy motion controller is activated to adjust the path of the end-effector of the robot arm. Then, the robot arm takes the optimal posture for collision avoidance with the obstacle. To show the feasibility of the developed algorithm, numerical simulations are carried out with changing both the positions and sizes of obstacles. It was concluded that the proposed algorithm gives a good performance for obstacle avoidance.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.4
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• pp.554-559
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• 2010

Lifeboat davit is composed of main frame, main arm, upper arm and support bar. In this paper, design parameters that affect the bending stiffness were set as plate thickness, width and hight of upper arm. To analyze the influence of parameter factors, FEM and Taguchi Method were used. This paper will help substantially in many industries.

• Journal of Mechanical Science and Technology
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• v.20 no.8
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• pp.1159-1168
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• 2006

In this paper, a new revolute mobile robot arm with five degree of freedom (d.o.f) was developed for autonomous moving robots. As a control system for the robot arm, a distributed control system composed of the main controller and five motor controllers for arm joints was developed. The main controller and the motor controllers w ε re developed using the ARM microprocessor and the TMS320c2407 microprocessor, respectively. A new trajectory tracking algorithm for the motor controllers was devised employing pre-generated off-line trajectory data. Also, a 3-D simulator based on the openGL software to simulate the motion of the robot arm was developed. To validate the performance of the robot system, experiments to track a specified trajectory were performed.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.11 no.4
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• pp.168-172
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• 2012

Control arm is the structural component that pivots on two places. One end of the control arm is attached to the body frame and the other end is attached to the steering knuckle. The former research proposed the structural design by applying optimization technique with aluminum alloy. This study suggests a durability test method on the developed upper control arm to validate the analysis results. The durability analysis results of the developed control arm by using MSC Fatigue is confirmed to be close to infinite life. The weak model of developed control arm which occurs to finite life is made to perform the durability test and the zig design is developed in this process.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.4
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• pp.136-146
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• 1992

This paper provides the end-point positioning of a single-link flexible robot arm by inverse dynamics. The system is composed of a flexible arm, the mobile ballscrew stage as an arm base, a DC servomotor as an actuator, and a computer. Actuator voltages required for the model of a flexible arm to follow a given tip trajectory are formulated on the basis of the Bermoullie-Euler beam theory and solved by applying the Laplace transform method, and computed by the numerical inversion method proposed by Weeks. The mobile stage as the arm base is shifted so that the end-point follows the desired trajectories. Then the trajectory of end-point is measured by the laser displacement sensor. Here, two kinds of functions are chosen for the given tip trajectories. One is what is called the bang-bang acceleration profile and the other is the Gaussian velocity profile.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.2
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• pp.199-204
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• 2017

In this study, analytical methods for designing a torque arm pin and elastomeric bushings of a conventional-type three-point-suspension gearbox of a wind turbine are investigated. The design loads for the torque arm were derived by considering the effects of the transmitted torque and self-weight of the gearbox. Based on the design loads, design methods for the torque arm pin and elastomeric bushings were introduced in the terms of material and size selection. Finally, a small-scale conventional-type gearbox was designed by applying the derived design methods. This study is an elementary and analytical study for the design of the torque arm pin and elastomeric bushings. It is necessary to verify and supplement the results further through extensive experimentation.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.235-241
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• 2016

Dual arm manipulators have been developed for the entertainment purpose such as humanoid type or the industrial application such as automatic assembly. Nowadays, there are some issues for applying the dual arm robot system into the various fields. Especially, robots can substitute human and perform the dangerous activity such as search and rescue in the battle field or disaster. In the paper, the dual arm manipulator which can be adapted to the rescue robot with the mobile platform was developed. The kinematic design was proposed for the rescue activity and the required specification was determined through the kinematic analysis and the dynamic analysis in the various conditions. The proposed dual arm manipulator was manufactured based on the vibration analysis result and its performance was proved by the experiment.

• Proceedings of the Korean Society of Computer Information Conference
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• 2018.07a
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• pp.167-170
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• 2018

본 논문에서는 바이너리 분석을 위한 ARM의 구조를 분석한다. 바이너리 분석이란 0과 1로 이루어진 이진 값의 의미를 분석하는 것을 말한다. 바이너리 코드를 역어셈블(Disassemble)하여 값으로만 존재하는 데이터가 어떤 명령어(Instruction)이며 어떤 피연산자(Operand)를 의미하는지 알 수 있다. 소스코드를 컴파일하여 실행파일이 생성이 되면 바이너리 값으로 구성되며 이 실행파일을 바이너리 파일이라고도 한다. 바이너리 파일을 분석하기 위해서 CPU의 명령어 집합 구조(Instruction Set Architecture)를 알아야 한다. PC와 서버, 모바일 등에서 많이 사용되고 있는 ARM 중에서 64비트를 지원하는 AArch64(ARMv8)의 명령어 구조를 분석하여 효율적인 바이너리 분석의 기반을 마련하고자 한다.