• 로봇학회논문지
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• 제9권1호
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

• 대한의용생체공학회:의공학회지
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• 제24권6호
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• pp.543-548
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• 2003

Injuries of wrist in upper extremity is common onset in industrialized world. The development of joint arthroplasty and mechanical joint is area of research for biomechanical engineer and surgeon for a decade. Therefore. the knowledge of characteristic of joint motion is essential to develop the artificial wrist joint. In this study. the joint motions of wrist required for activities of daily living (ADLs). including personal hygiene and care. and general home activity were measured using flexible electrogoniometer. Total of 25 different daily activities were separated into four groups and tested on 15 subjects who did not show any abnormality of their joint functions. The maximum functional range of motion required for ADLs were obtained and standardized for analysis and comparison. Also. a least functional range of motion for ADLs were investigated. Results revealed that any significant differences were not found in least functional range of motion between left and right wrist to perform ADLs. However. a significant difference was found in different ADLs. Therefore. least range of motion obtained in this study can be used as basic data to design artificial joint and set a goal for surgeon to achieve appropriate treatment from patients.

• 한국구조물진단유지관리공학회 논문집
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• 제23권7호
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• pp.25-32
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• 2019

PHC 파일의 파일간 연결공법으로 용접이음과 볼트이음을 이용한 기계적 이음들이 적용되고 있으나 시공과정 등에서 품질 및 성능 확보에 어려움이 발생할 수 있다. 본 연구는 기존 PHC파일 연결부가 가지는 단점을 개선하고 PHC 파일 연결부 성능을 확보할 수 있는 무용접 이음판형 기계적 PHC파일 연결부를 제안하고 비선형 구조해석과 실제 PHC파일 연결부 실험을 통하여 제안된 PHC 파일 연결부의 연결성능을 평가하였다. 제안된 PHC파일 연결부의 비선형 구조해석 결과 연결부는 휨, 압축, 인장, 전단, 편심압축 하중 상태에서 충분한 연결성능을 확보하는 것으로 평가되었으며, 실제 휨하중 재하실험에서 PHC파일의 균열 및 휨 모멘트 수준 이상에서도 안정적인 선형거동을 가지고 있는 것으로 나타났다. 따라서 제안한 무용접 이음판형 기계적 PHC파일 연결부는 충분한 연결성능을 확보할 수 있는 것으로 판단된다.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.305-311
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.69-72
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• 1996

This paper considers a global resolution of kinematic redundancy under inequality constraints as a constrained optimal control. In this formulation, joint limits and obstacles are regarded as state variable inequality constraints, and joint velocity limits as control variable inequality constraints. Necessary and sufficient conditions are derived by using Pontryagin's minimum principle and penalty function method. These conditions leads to a two-point boundary-value problem (TPBVP) with natural, periodic and inequality boundary conditions. In order to solve the TPBVP and to find a global minimum, a numerical algorithm, named two-stage algorithm, is presented. Given initial joint pose, the first stage finds the optimal joint trajectory and its corresponding minimum performance cost. The second stage searches for the optimal initial joint pose with globally minimum cost in the self-motion manifold. The effectiveness of the proposed algorithm is demonstrated through a simulation with a 3-dof planar redundant manipulator.

• 대한기계학회논문집B
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• 제22권5호
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• pp.607-617
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• 1998

Comparisons of joint probability density distribution obtained from the raw data of measured droplet sizes and velocities in a transient diesel fuel spray with computed joint probability density function were made. Simultaneous droplet sizes and velocities were obtained using PDPA. Mathematical probability density functions which can fit the experimental distributions were extracted using the principle of maximum likelihood. Through the statistical process of functions, mean droplet diameters, non-dimensional mass, momentum and kinetic energy were estimated and compared with the experimental ones. A joint log-hyperbolic density function presents quite well the experimental joint density distribution which were extracted from experimental data.

• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.995-1000
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• 1999

This paper presents a optic system and a visual inspection algorithm looking for solder joint defects of J-lead chip which are more integrate and smaller than ones with Gull-wing on PCBs(Printed Circuit Boards). The visual inspection system is composed of three sections : host PC, imaging and driving parts. The host PC part controls the inspection devices and executes the inspection algorithm. The imaging part acquires and processes image data. And the driving part controls XY-table for automatic inspection. In this paper, the most important five features are extracted from input images to categorize four classes of solder joint defects in the case of J-lead chip and utilized to a back-propagation network for classification. Consequently, good accuracy of classification performance and effectiveness of chosen five features are examined by experiment using proposed inspection algorithm.

• 대한기계학회논문집
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• 제17권2호
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• pp.385-392
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• 1993

This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate an additional stabilizing control law with the sliding property. The singularly perturbated models in this paper include inertia moments which are functions or the deformations of actuators as well as link positions. The values of renewedly defined fast controller variables are computer from the corrected reduced-order model without additional computational loads. Proposed schemes are compared with the conventional one. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than the conventional scheme, and especially effective for the manipulator with high joint-flexibilities.

• 대한기계학회논문집
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• 제19권8호
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• pp.1869-1875
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• 1995

The adhesively bonded tubular single lap joint shows a nonlinear relationship between the applied torque and the resulting displacement under the static-torsional loading, which is induced from the nonlinear properties of the adhesive. However the torque transmission capability in the case of the dynamic-torsional loading is much less than that in the case of the static-torsional loading, the stress level of the adhesive is usually in the region of the linear stress and strain relation and the stress distributions of the joint can be obtained by the linear analysis. In this paper, a failure model for the adhesively bonded tubular single lap joint under the torsional fatigue loading was developed with respect to the adhesive thickness that was a critical factor in predicting the static torque transional-cyclic loadings was proposed.

• 대한기계학회논문집A
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• 제24권9호
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• pp.2334-2343
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• 2000

This paper proposes an efficient beam-shell modeling technique for the free vibration analysis of a T-joint thin-walled beam structure. Except a small portion of a T-joint which is modeled by shell elements, the structure is modeled by thin-walled beam elements that can describe warping and distortion. In order to match the shell and thin-walled beam elements at the interface of the dissimilar elements, a technique based on a pseudo inverse matrix is formulated. This paper also examines the role of the thin-walled element taking into account the distortion and warping deformation degrees of freedom in predicting accurately the dynamic characteristics of a T-joint thin-walled structure.