• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.209-215
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• 2022

In this paper, a forearm Mechanism design inspired by ligamentous structure of the human body is proposed. The proposed mechanism consists of four rigid bodies and fourteen wires without any mechanical joints. Actually, the mechanism is based on the concept of the tensegrity structure. Therefore, the proposed mechanism has inherently compliant characteristics due to the flexibility of the wires composing the structure. Rigid bodies and wires of the mechanism mimic bones and major ligaments in the forearm of the human. The proposed mechanism is classified as one of the interconnected hybrid flexure systems. The analysis method of the degree of freedom (DOF) of the proposed mechanism is also introduced through analyzing technique of the interconnected hybrid flexure systems, in this paper. Ultimately, the proposed mechanism, whose structure is complicated with rigid bodies and wires, mathematically drives that it has 3-DOFs.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.04a
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• pp.427-434
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• 2000

This paper presents a computer program for a 2-D fluid-structure-soil interaction analysis. With this computer program the fluid can be modeled by a spurious free 4-node displacement-based fluid element which uses rotational penalty and mass projection technique in conjunction with the one point reduced integration scheme to remove the spurious zero energy modes. The structure and near field soil are discretized by the standard finite elements while the unbounded far field soil are discretized by the standard finite elements while the unbounded far field soil is represented by the frequency dependent dynamic infinite elements. Sine this method models directly the fluid-structure-soil system it can be applied to the dynamci analysis of 2-D liquid storage structure with complex geometry. For the purpose of verification dynamic analyses for tanks on a rigid foundation and on compliant embankment are carried out. Comparison of the present results with those by ANSYS program shows good agreement.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.1-7
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• 2024

This paper presents an under-actuated robotic hand inspired by the ligamentous structure of the human hand for a prosthetic application. The joint mechanisms are based on the concept of a tensegrity structure formed by elastic strings. These rigid bodies and elastic strings in the mechanism emulate the phalanx bones and primary ligaments found in human finger joints. As a result, the proposed hand inherently possesses compliant characteristics, ensuring robust adaptability during grasping and when interacting with physical environments. For the practical implementation of the tensegrity-based joint mechanism, we detail the installation of the strings and the routing of the driving tendon, which are related to extension and flexion, respectively. Additionally, we have designed the palm structure of the proposed hand to facilitate opposition and tripod grips between the fingers and thumb, taking into account the transverse arch of the human palm. In conclusion, we tested a prototype of the proposed hand to evaluate its motion and grasping capabilities.

• Advances in aircraft and spacecraft science
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• v.9 no.2
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• pp.103-117
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• 2022

In this paper, a novel morphing mechanism using a deployable scissor structure was proposed for a variable camber morphing wing. The mechanism was designed through the optimization process so that the rib can form the target airfoils with different cambers. Lastly, the morphing wing was manufactured and its performance was successfully evaluated. The mechanism of the morphing wing rib was realized by a set of deployable scissor structure that can form diverse curvatures. This characteristic of the structure allows the mechanism to vary the camber that refers to the airfoil's curvature. The mechanism is not restrictive in defining the target shapes, allowing various airfoils and overall morphing wing shape to be implemented.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.200-205
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• 1989

The performance of conventional robot arms is inhibited by trade-off between speed and accuracy. Because these systems measure only joint angles, in spite of slow speed, they must rely on a stiff structure in order to attain positioning accuracy. Lightweight links would allow faster motion, but their flexibility would also produce positioning errors. This research is involved with the development and evaluation of an End-point Control System whose major goal is to compensate for link deflections and thus mitigate the speed versus accuracy conflict in conventional manipulator.

• Proceedings of the IEEK Conference
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• 2004.08c
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• pp.562-566
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• 2004

In this paper, we propose a method for constructing terrestrial/cable PSIP converting system, so-called a PSIP converter, which is converting terrestrial PSIP into cable PSIP for a data broadcasting service in the interoperable network of terrestrial and cable, and define an interface between the PSIP converter and the OOB SI generator by using PMCP messages compliant to ATSC T3/S1. The exiting PSIP converter just converts terrestrial PSIP into cable PSIP compliant to ATSC and OCAP standard and transmits by a MPEG-2 TS format. That is to say, it is not for the digital data broadcasting but for the digital broadcasting. Say in other word, the proposed PSIP converter is designed to convert and transmit PSIP including DET information which is necessary data event information for data broadcasting service. In addition, the PSIP converter can support various types of PSIP information to the OOB SI generator by using PMCP messages defined by a hierarchical structure as per each channel, audio/video event, data event and so on.

• Wind and Structures
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• v.12 no.2
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• pp.103-120
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• 2009

Articulated tower platforms due to its compliant nature are more susceptible to the dynamic effects of wind than conventional fixed platforms. Dynamic response analysis of a double hinged articulated tower excited by low frequency wind forces with random waves is presented in this paper. The exposed super structure of the platform, housing the drilling and production facilities is subjected to mean and fluctuating wind loads, while the submerged portion is acted upon by wind driven waves. The fluctuating component of the wind velocity is modeled by Emil Simiu's spectrum, while the sea state is characterized by Pierson-Moskowitz spectrum. Nonlinearities in the system due to drag force, added mass, variable submergence and instantaneous tower orientation are considered in the analysis. To account for these nonlinearities, an implicit time integration scheme (Newmark's-${\beta}$) has been employed which solves the equation of motion in an iterative fashion and response time histories are obtained. The power spectra obtained from random response time histories show the significance of low frequency responses.

• Journal of Auto-vehicle Safety Association
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• v.3 no.2
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• pp.11-16
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• 2011

In recent years, rapid-increasing market share of compact cars and SUVs has brought for both consumer and automaker to pay more attention on crash compatibility between the compact passenger vehicles and the light trucks (i.e., Pickups and SUVs). Vehicle compatibility regarding both self and partner protection in frontal crash of different class vehicles is one of hot issues in vehicle safety. Furthermore, it is expected that the amendment of UNECE-Regulation 94 to implement compatibility issues in couple of coming years. In this study, conceptual design of compatibility compliant frontal vehicle structure which subjects to improve? the distribution of frontal crash loading and structural engagement between vehicles is introduced. The effects of proposed vehicle structure on both possible candidates (i.e. FWRB, FWDB and PDB) for a compatibility evaluation test procedure and car-to-car crash are also investigated.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.4
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• pp.476-484
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• 2010

Precise positioning stages are often employed for precise machinery. For the purpose of vibration isolation, these precise positioning stages are mounted on a heavy base structure which is supported by compliant springs. Then the base structure is subjected to residual vibration due to the reactive force and vertical moving load induced by the stage motion. This paper investigates the vibration behavior of a positioning stage base and the associated vibration suppression technique. A dynamic model is developed to investigate the base vibration due to the reactive force and moving load effects by the moving stage. An input shaping technique is also developed to suppress the residual vibrations in base structures. Simulations and experiments show that the developed dynamic model adequately represents the base vibration and that the proposed input shaping technique effectively removes the residual vibrations from the positioning stage base.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.198-204
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• 2018

Quadrotor with limited flight time due to battery level can have the extended mission life by applying energy harvesting technology. Bio-inspiration from the birds' locomotion of flight and perch-and-stare can make energy consumption efficient, and energy harvesting technology can generate energy. In order to charge the battery with solar power, the drones are required to be in a position without shade. In the mountainous terrain, a novel mechanism is required in order to be located stably at the top of the tree or the inclined rock. In this study, we propose an analysis of the origami structure and the concept design of the perching mechanism with two stable equilibrium states. The origami structure composed of compliant material can be applied to the perching mechanism that can be locked passively. Moreover, the experimental results of the trajectory and perching test are discussed.