• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.1
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• pp.112-120
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• 2003

In this paper, dynamic track tension fur high mobility tracked vehicle is investigated by multibody dynamic simulation techniques. This research focuses on a heavy military tracked vehicle which has sophisticated suspension and rubber bushed rack systems. In order to obtain accurate dynamic track tension of track subsystems, each track link is modeled as a body which has six degrees of freedom. A compliant bushing element is used to connect track links. Various virtual proving ground models are developed to observe dynamic changes of the track tension. Numerical studies of the dynamic track tension are validated against the experimental measurements. The effects of pre-tensions, traction forces, fuming resistances, sprocket torques, ground profiles, and vehicle speeds, for dynamic responses of track tensions are explored, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.8
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• pp.798-803
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• 2009

This paper proposes a grating scanner which is driven by a stack-type piezoelectric element. The mechanism of the grating scanner is based on flexure hinges. Using some constraints, the compliant mechanism is designed and then verified by Finite Element Analysis. The designed compliant mechanism is manufactured by wire electro-discharge machining, and then integrated with a stack-type piezoelectric element for actuation and a capacitance displacement sensor for measuring ultra-precision displacement. Experiments demonstrates the characteristics and the performances of the grating scanner using the terms of working range, resonance frequency, bandwidth and resolution. The grating scanner is applicable to a Moire interferometry for measuring 3-dimensional microscopic surface.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.103.2-103
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• 2001

In this paper, we discusses compliant actuators those are made of electrostrictive polymer. Electrostrictive polymer actuators(EPAs) are based on the deformation of dielectric elastomer polymer in the presence of an electric field. We address actual design and fabrication method of an actuator using the electrostrictive polymer. We have developed primitive prototypes of the actuator using elastic restoring force. And they actuators have 1 to 3 DOF, 1 DOF actuators are simple linear actuators and 3 DOF actuator has linear actuation and steering capability. They are simple in structure with lightweight, high trust, force and large stroke. Basic design principles and experimental procedures for confirming their performance will be introduced.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.2-119
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• 2002

In this paper a passive compliant joint (PCJ) for human-friendly service robots is presented. The PCJ is composed of a magneto-rheological damper and a spring for elasticity. In the magneto-rheological damper, a braking force proportional to the electric current is generated. It works as a viscous damper by controlling the electric current according to the angular velocity of spring displacement. The compliance property and position control of the PCJ are verified through experiments and simulations to a single DOF simple arm with the PCJ.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.1006-1013
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• 1988

We have shown how unstructured modeling was used to derive a general stability condition in Part 1. In Part 2, we focus on the particular dynamics (structures modeling) of the robot manipulator and environment. Using rigid body dynamics, the stability condition for the direct drive robots has been achieved in terms of the Jacobian and robot tracking controller. Combining the structured and unstructured modeling, a stability condition for a particular application can be obtained. This approach has been used to analyze compliant motion on the University of Minnesota robot using a feedforward torque controller. We have obtained a stability condition for this application. Through both simulation and experiment, the sufficiency of this condition has been demonstrated. For a sufficient stability condition, recall that if the condition is satisfied, then the stability is guaranteed; however, if the condition is violated, no conclusion can be made.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1065-1068
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• 2003

The nano imprint process is one of the next generation lithography has been mentioned as one of major nanoreplication techniques because it is simple process, low cost, high replication fidelity and relatively high throughput. This process requires a surface contact between a template with patterns and a wafer on a stage. After contact, the vertical moving the template to the wafer causes some directional motions of the stage. Thus the stage must move according to the motions of the template to avoid the damage of the transferred patterns on the wafer. This study is to develop the wafer stage with a passive compliance to overcome the damage. This stage is designed with the concept like that it has a monolithic, symmetry and planar 6-DOF mechanism.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2003.05a
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• pp.1085-1092
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• 2003

Proposed in this paper is a standard-compliant business process modeling tool which is based on the UML(Unified Modeling Language) activity diagram and produces an XPDL(XML Process Definition Language) file as an output. The XPDL is a standard process definition exchange format by WfMC(Workflow Management Coalition). To develop an UML/XPDL-based modeling tool, the mapping of modeling elements between activity diagram and XPDL format is conducted after the detailed analysis of each modeling specification. As a result of this mapping, it is revealed that modeling elements of each activity diagram and XPDL must be expanded. So new modeling elements are identified and added to each specification. Based on this mapping, the prototype system is developed, and the usefulness of the developed system is shown through the case study.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.456-459
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• 1995

The problem of compliant motion control using a redundant manipulator is addressed in this article. Specifically, a hybrid-control type and impedance-control type controllers are extended to general redundant manipulators based on the kinematically decomposed and geometrically compatible modeling of its joint space. In the case of the hybrid controller, it leads to the linear and decoupled closed-loop dynamics in the three motion spaces, that is the motion-controlled, force-controlled, and the null motion-controlled spaces of the redundant manipulator. When the proposed impedance controller is applied, the decoupled impedance models in three motion spaces are obtained. The superiority of the proposed controllers is verified with the numerical experiments.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.63-70
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• 2018

In this paper, the design of a novel 6-axis compliance device with force/torque sensing capability and the experiment results on force measurement are presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, the force control method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment for more stable force control. The proposed compliance device is designed to have a diagonal stiffness matrix at the tip and uses strain gauge measurement which is robust to dust and oil. The measurement circuit is designed with low-cost IC chips however the force resolution is 0.04N.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.39 no.6
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• pp.69-77
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• 2002

In this paper, we present the CDMA2000 1x compliant mobile station modem chip (SCom5010) implemented in a 0.18${\mu}{\textrm}{m}$ CMOS technology.[1] ARM940T cached processor. TeakLite DSP core, and other peripheral blocks are integrated with the baseband modem chip. Also we show novel verification methodologies and explain how this chip can be used as an emulation processor.