• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.223-226
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• 2008

This paper presents an effectiveness of a four-link mechanism with a tip which has four joints, but only one is an active joint. Even though the degree-of-freedom of the mechanism is one, it can be applied to implement a combined joint motion adequately. So, this paper analyzes its motion for effective robotic applications.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.583-586
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• 2000

The conventional actuators with the speed reducer had weakness in supporting the weight of the body and leg itself. To overcome this, a new four bar link mechanism actuated by the ball screw was proposed. The four bar mechanism has higher strength and gear ratio than the conventional actuator to actutate the leg of the biped robot. One leg was designed to have ankle, thigh, and hip joints. The kinematics and dynamics of one leg with four bar link mechanism was analyzed using Euler-Lagrange approach. The dynamics of one leg was expressed in the ball strew frame.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.869-870
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• 2010

• Journal of KSNVE
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• v.9 no.5
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• pp.1050-1057
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• 1999

The existence of clearance at the link joint of a machine is inevitable for assembly and mobility. During the cyclic operation of a machine, rapid changes of the direction and magnitude of connection forces cause momentary loss of contact between the pin and the bushing at the link joint. Contact loss at the clearance joint gives rise to undesirable impact. The impulsive force affects on the performance of the machine, and leads to excessive vibration, noise and faster wear in the connecitons. In this paper, experiment and theoretical analysis were carried out for the variation of crank speed and clearance size. The link mechanism employed in this investigation was newly designed to check the effects of parameter changes on the occurrence of contact loss and on the magnitude of the impact force. The contact loss and impact position were calculated with various driving conditions.

• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.384-388
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• 2016

This paper proposed a m.Sketch to search the optimal link lengths for a legged walking robot. In order to apply the m.Sketch for the proposed, set the design parameters of the constraints and use the m.Skecth to get optimal GL(Groud Length) and GAC(Ground Angle Coefficient). The legged robot designed based on four-bar linkage theory and Theo Jansen mechanism. The stride length of the legged walking robot was defined based on the proposed kinematic analysis. Use the Edison Design m.Sketch simulate and find the optimal link length having the best of the Ground Length (GL) and Ground Angle Coefficient(GAC). And use these length implemented the Theo Jansen mechanism both in Science box parts and acrylic. In addition to the further expansion of the legs to reach the goaltranslating heavy objects or person.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.2
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• pp.238-245
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• 2003

To overcome the weakness in the load capacity of conventional robot manipulators actuated by motors with the speed reducer such as the harmonic driver, we proposed a new closed-chain type of the robot actuator which is composed of the four-bar-link mechanism driven by the ball screw. The robot manipulator is revolute-jointed and composed of four axes. The base axis is actuated by the lineal actuator such as the ball screw, and the others are actuated by the proposed actuator. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates and then they are mapped into the sliding coordinates of the ball screw. We performed fundamental tests on the structure of the robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.540-543
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• 2002

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, we proposed and constructed a new type of the robot actuator which is four-bar-link mechanism driven by the ball screw. We developed a new type of a revolute-jointed robot manipulator composed of four axes. The base axis is actuated with conventional speed reducer, but the others are actuated by the proposed actuators. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates, and then they are mapped into the sliding coordinates of the ball screw. The structure specifications of the manipulator shown.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.541-542
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• 2010

• Journal of the Korean Society for Precision Engineering
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• v.22 no.6 s.171
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• pp.98-108
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• 2005

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.

• Journal of the Ergonomics Society of Korea
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• v.33 no.4
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• pp.281-287
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• 2014

Objective: The objective of the study is to develop a portable assistance device to help elderly users reduce strain on the knee and leg muscle while the elderly are standing up. Background: The pose of standing up from a chair is a basic movement, but the elderly often have difficulty standing up due to their weak muscles. We focus on designing a solution that helps the elderly reduce physical problems and support them standing up. Method: This study consists of three parts. Part I explores the way to reduce the refrain of leg muscle while standing up from a chair. In the process of structural development, we found that the moment is minimized when user pushes down the armrests due to a decrease in the force acting on the center of mass. In part II, a user test of 20 participants was carried out to rank the order of comfort of two stimuli: the chair with fixed armrests and the chair with the four-link mechanism that we created-in three different ways; (1) to stand up without touching armrests, (2) to stand up by pushing down on fixed armrests, and (3) to stand up by pushing down on armrests and being supported by the mechanism. To examine the statistically significant differences among the rank means, a Friedman test was conducted. In part III, we analyze the results of the user test and interview feedbacks, focusing on establishing a design strategy from UPO and visualizing it in 1:1 scale. Results: In part I, we decided to develop the four-link mechanism. The bottom is lifted up as the link rises. In part II, based on the rank data, we empirically found that UPO was assessed as the most comfortable during the stimuli. The thigh angle is smaller and the bottom of UPO is separated from a seat. In part III, after assessing the results and feedbacks, we created a visualization strategy for UPO: light, friendly, and novel. Conclusion: The portable and non-mechanical UPO comprises a four-link system that lifts the user's hips while standing. It can help users avoid knee and leg muscle strain. Its universal design considers the elderly's difficulties. Application: In a future study, combining light and durable material in UPO is expected to increase its usability. And this study is an opportunity to design various types of standing assistance devices.