• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.313-318
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• 2001

A haptic hand controller operated by the user's hand can receive information on position and orientation of the hand and display force and moment generated in the virtual environment to the hand. This paper presents a design method for KU-HHC, 6 DOF Korea University-haptic hand controller, which allows separation of workspace from linkage mechanism in consideration of the efficient user operation. First, the 3 DOF mechanism in which all the actuators are mounted on the fixed base is developed by combining a 5-bar linkage and gimbal mechanism. Then, the 6 DOF HHC is designed by connecting the two 3 DOF devices through a handle. This paper presents the forward and inverse kinematics for this device and Jacobian analysis. Improvement of the kinematic characteristics using performance index is also discussed. The hand controller KU-HHC based on this design concept and kinematic analysis was manufactured and shows excellent performance.

• 한국지능시스템학회논문지
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• 제21권5호
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• pp.660-666
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• 2011

본 논문에서는 절 기구(bar linkage)형 다관절 보행로봇(multi-legged walking robot)의 최적다리 길이선정을 위하여 입자군집 최적화(PSO: Particle Swarm Optimization) 기법을 사용하였다. PSO 알고리즘을 적용하기 위해서 제안한 보행로봇의 기구학적인 해석이 필요하다. 게 로봇은 4절 링크 이론(four-bar linkage)과 얀센 메커니즘(Jansen mechanism)을 기반으로 설계되었다. 이러한 기구학적인 해석을 바탕으로 로봇의 보행보폭을 정의한다. 그리고 PSO의 학습 및 군집 특성을 이용하여 최대의 보행보폭을 가지는 10개(EA)의 링크(link)길이를 구한다. 시뮬레이션을 통해 각 링크의 위치와 다리 끝단의 보행보폭을 확인할 수 있다. 결과로서, PSO기법이 절 기구형 다관절 보행로봇의 최적다리 길이 선정에 효율적임을 보여 준다.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.434-442
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• 2016

Jansen mechanism is composed of mechanical walking linkages that are designed and optimized by Theo Jansen in 1990. Although he has made optimum values for linkage dimensions for Jansen Mechanism, there are still various applications for this mechanism and also various optimum values for each application. In this paper, Jansen Mechanism optimization has been processed for the Science Box. The Science Box has its own linkage dimensions and related components and makes space for optimization process. For the optimization 3 to 4 linkage were selected which had no similar ratios of linkages between other applied Jansen mechanisms and to reduce experiment numbers. Response Surface Method was used with Minitab 17 for optimization and m.sketch was used for experimentation. Intuitive method had to be used to find optimum values as with RSM optimum value could not be found. EDISON Designer was used to make final CAD model with optimum values and laser cutter was used to get appropriate acryl panels for legs.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집C
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• pp.476-481
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• 2001

In a vacuum circuit breaker mechanism, a spring-actuated linkage system is used to satisfy the desired opening and closing characteristics of electric contacts. Because the opening dynamics of electric contacts is determined by such a linkage system, the stiffness, free length and attachment points of a spring become the important design parameters. In this paper, based on the energy conservation that the total system energy is constant throughout the operating range of a mechanism, a systematic design procedure of determining the spring design parameters is presented. The proposed procedure is applied to the design of an opening spring for satisfying the specified opening characteristics.

• 소성∙가공
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• 제6권6호
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• pp.471-481
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• 1997

This paper is concerned with the kinematic analysis of several linkage drives for mechanical presses. Load and velocity characteristics of conventional presses are illustrated and a design of new drive for a mechanical press is represented. In this regard, a crank-slider mechanism with arc crank-pin guide is introduced and compared with other linkage drives. Kinematic performances are analyzed in respect of load capacity, slide velocity characteristics using a developed SS-Plot program. The new linkage drive turns out to be effective in terms of load and velocity characteristics, and productivity.

• Advances in Computational Design
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• 제4권3호
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• pp.197-210
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• 2019

Motion generation of a four-bar linkage is a type of mechanism synthesis that has a wide range of applications such as a pick-and-place operation in manufacturing. In this research, the use of meta-heuristics for motion generation of a four-bar linkage is demonstrated. Three problems of motion generation were posed as a constrained optimization probably using the weighted sum technique to handle two types of tracking errors. A simple penalty function technique was used to deal with design constraints while three meta-heuristics including differential evolution (DE), self-adaptive differential evolution (JADE) and teaching learning based optimization (TLBO) were employed to solve the problems. Comparative results and the effect of the constraint handling technique are illustrated and discussed.

• 대한기계학회논문집
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• 제16권4호
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• pp.737-752
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• 1992

본 연구에서는 링크를 여러개의 2절점 6자유도의 보 요소로 이상화하고 링크 의 운동을 평면 운동으로 한정하며 링크의 지지부의 강성은 무한대이고 회전 대우 부 분의 간극은 없는 것으로 가정하여 링크의 탄성 변형에 관한 운동 반정식을 유도하였 다. 즉, 변위법에 기초한 정적 변위 해석에 관한 유한 요소법에서 관성력, 중력 그 리고 외력을 외부 부하로 간주하여 동적인 운동 방정식을 유도하였다. 여기에, 회전 대우의 베어링을 선형 스프링으로 이상화하여 유연성 링크의 일부분으로 고려함으로써 베어링의 탄성 변형이 유연성 링크의 동적 변형에 미치는 영향에 대하여 고찰하였다. 베어링의 탄성 변형이 고려된 유연성 링크에 관한 운동 방정식을 모우드 중첩법에 근 거를 둔 수치해법으로 그 해를 구하였다.

• 대한기계학회논문집A
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• 제29권11호
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• pp.1534-1541
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• 2005

Unlike industrial manipulators, the manipulators mounted on service robots are interacting with humans in various aspects. Therefore, safety has been one of the most important design issues. Many compliant robot arms have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safety mechanism based on passive compliance is proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safety mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of this mechanism is verified by simulations and experiments. It is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms or active methods.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.873-876
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• 2001

Micro-robots using microprocessor are mainly classified as line-tracer, micro-mouse, and war-robot. This paper presents the development of the war-robot mechanism with vehicle-style using RC-servo motors and actuators using 4-bar linkage and infrared sensors. Especially the algorithm of conquering other war-robots is proposed based on the skill of belly-throw of Korean wrestling.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.180-185
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• 2004

Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.