• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1157-1160
• /
• 1996

Control of a biped robot which has compliant ankle joints is dealt in this paper. Simulated version of a human ankle joint is built using springs and mechanical constraints, which gives a flexibility of joint and compliance against the touching ground. The biped robot with compliant ankle joints proposed here gives a good contact between its sole and the ground and makes foot landing soft. As a result, installing force sensors for measuring the center of gravity of the biped becomes easier. A motor to drive an ankle joint is not needed which makes legs light. However, the control problem becomes more difficult because the torque of the ankle joint to put the biped in a desired walking gait cannot be provided from the compliant ankle joint. To solve this problem, we proposed a dynamic gait modification method by adjusting the position of a hip joint. Simulation results for the mathematical model of the SD-2 biped in the Ohio State University are given to show the validity of the proposed controller.

• Korea-Australia Rheology Journal
• /
• v.21 no.1
• /
• pp.39-46
• /
• 2009

Atherosclerosis is a disease that narrows, thickens, hardens, and restructures a blood vessel due to substantial plaque deposit. The geometric models of the considered stenotic blood flow are three different types of constriction of cross-sectional area of blood vessel; 25%, 50%, and 75% of constriction. The computational model with the fluid-structure interaction is introduced to investigate the wall shear stresses, blood flow field and recirculation zone in the stenotic vessels. The velocity profile in a compliant stenotic artery with various constrictions is subjected to prescribed physiologic waveform. The computational simulations were performed, in which the physiological flow through a compliant axisymmetric stenotic blood vessel was solved using commercial software ADINA 8.4 developed by finite element method. We demonstrated comparisons of the wall shear stress with or without the fluid-structure interaction and their velocity profiles under the physiological flow condition in the compliant stenotic artery. The present results enhance our understanding of the hemodynamic characteristics in a compliant stenotic artery.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.9
• /
• pp.1779-1786
• /
• 2002

When the topology optimization is applied to the design of compliant mechanism, unexpected displacements of input and output port are generated since the displacement control is not included in the formulation. To devise a more precise mechanism, displacement constraint is formulated using the mutual potential energy concept and added to multi-objective function defined with flexibility and stiffness of a structure. The optimization problem is resolved by using Finite Element Method(FEM) and Sequential Linear Programming(SLP). Design examples of compliant mechanism with displacement constraint are presented to validate the proposed design method.

• Proceedings of the KIEE Conference
• /
• 1990.07a
• /
• pp.514-517
• /
• 1990

In this paper, compliant motion control of a manipualator in manipulator is proposed by using the self-tuning adaptive controller. Compliant motion is needed in order to applicated to complicated and accurate fields such as assembly operation in which several parts are matched. For a control method of compliant motion hybrid control is used so forces and position control are proposed selectively through a closed feedback loop. By contacting with environment, the uncertainties higher. Self-tuning controller which adapts to variable dynamic response is applied to compliant motion control in order to satisfy the desired operation. The applicability of the suggested algorithm was confined by simulation of the contour tracking task of four joint manipulator.

• Structural Engineering and Mechanics
• /
• v.44 no.3
• /
• pp.405-416
• /
• 2012

In this study the investigation of large deflections subject in compliant mechanisms is presented using homotopy perturbation method (HPM). The main purpose is to propose a convenient method of solution for the large deflection problem in compliant mechanisms in order to overcome the difficulty and complexity of conventional methods, as well as for the purpose of mathematical modeling and optimization. For simplicity, a cantilever beam of linear elastic material under horizontal, vertical and bending moment end point load is considered. The results show that the applied method is very accurate and capable for cantilever beams and can be used for a large category of practical problems for the aim of optimization. Also the consequence of effective parameters on the large deflection is analyzed and presented.

• Korean Journal of Computational Design and Engineering
• /
• v.12 no.4
• /
• pp.263-273
• /
• 2007

All manufactured parts and tooling have unavoidable variations from their nominal shapes. During assembly, compliant parts are further deformed by relatively rigid assembly tooling. Lack of Knowledge regarding variations and deformations often results in expensive problems. Most current computer-aided design systems are based on ideally sized, ideally located and rigid geometry. This paper proposes a model for the assembly of compliant, non-ideal part. We start by defining tolerance analysis as the process of simulation the variation of a product or a subassembly when given the tolerance of required parts. Analysis is then done by finite element analysis and using the material properties of the actual parts to be assembled. Using the result, estimate the weld process.

• Proceedings of the KIEE Conference
• /
• 1999.07g
• /
• pp.2983-2985
• /
• 1999

This paper presents the attitude control of the double inverted pendulum with compliant joint. The biped robot with compliant ankle joint instead of a motor have a good contact between it's sole and ground in the uneven ground. The compliant ankle joint proposed here is composed of springs and mechanical constraint. The lower link is hinged on the plate to free for rotation in the vertical plate. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The algorithm for controlling a proposed inverted pendulum is nonlinear feedback controller. Simulation with mathematical model are conducted to show the validity of the proposed controller.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.11a
• /
• pp.201-202
• /
• 2010

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.2
• /
• pp.103-109
• /
• 2012

Fish generates large thrust through an oscillating motion with a compliant joint of caudal fin. The compliance of caudal fin affects the thrust generated by the fish. Due to the flexibility of the fish, the fish can generate a travelling wave motion which is known to increase the efficiency of the fish. However, a detailed research on the relationship between the flexible joint and the thrust generation is needed. In this paper, the compliant joint of a caudal fin is implemented in the driving mechanism of a robotic fish. By varying the driving frequency and stiffness of the compliant joint, the relationship between the thrust generation and the stiffness of the flexible joint is investigated. In general, as the frequency increases, the thrust increases. When higher driving frequency is applied, higher stiffness of the flexible joint is needed to maximize the thrust. The bending angles between the compliant joint and the caudal fin are compared with the changes of the thrust in one cycle. This result can be used to design the robotic fish which can be operated at the maximum thrust condition using the appropriate stiffness of the compliant joint.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.10a
• /
• pp.815-816
• /
• 2012