• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.255-257
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• 2005

This paper deals with the design and the realization of a small humanoid robot, which is called SERO_VI. The design concept and the mechanical structure including kinematics for the robot are presented. The humanoid robot consisted of 25 DOF with legs 12 DOF, arms 8 DOF, waists 3 DOF and heads 2 DOF for the purpose of vision system. The controller structure was also suggested such as modular joint actuators, DSP interface and their communication method. Simple experiment was done and its validness was investigated in order to verify the kinematic result.

• 로봇학회논문지
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• 제15권2호
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• pp.131-138
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• 2020

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

• 한국구조물진단유지관리공학회 논문집
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• 제26권5호
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• pp.43-48
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• 2022

본 논문에서는 신축량이 크고 내구성이 우수한 모듈러 신축이음장치의 내진성능을 평가하기 위해 지진응답 거동해석과 지진거동모사실험을 수행하였다. 지진응답 거동해석은 한국(KS), 미국(AASHTO LRFD), 그리고 유럽(Eurocode)의 설계기준 응답스팩트럼을 적용하여 인공지진파를 생성하였다. 해석대상 교량은 경간 1,000m 사장교를 대상으로 각 기준에 대해 세가지의 인공지진파를 생성하였으며, 지진거동모사실험은 축방향과 횡방향의 동적 유압가력기를 사용하여 인공지진파를 재현하였다. 실험결과 축방향, 횡방향 및 양방향에 인공지진파를 재하하였을 때 신축이음의 거동 이상이나 파괴는 발생하지 않았으며, 신축이음장치의 지진거동에 대한 내구성 및 안전성을 확인하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제34권8호
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• pp.1107-1114
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• 2010

해저에서 20kg 이상 작업물의 이송을 포함하는 다양한 작업을 수행할 수 있는 전기 모터 기반의 새로운 5자유도 고성능 수중 매니퓰레이터의 개발에 관해 연구하였다. ROV나 AUV에 적용하여 이들의 이동을 원활하게 하고 소형경량임에도 고가반하중의 성능을 갖는 25kg의 경량 구조로 설계하였다. 매니퓰레이터의 관절구동기는 방수를 위한 새로운 2중 오일자켓 구조를 갖는 모듈로 설계하고 제작하였다. 또한, 개발한 관절구동시스템의 우수한 토크성능을 실험을 통하여 검증하였다. 그리고 이를 적용한 소형 5자유도 고성능 수중 매니퓰레이터를 제작하였다.

• 한국기계가공학회지
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• 제7권2호
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• pp.72-77
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• 2008

In this study, we propose and develop PDMS-based modular actuators. The microactuator which looks like a small insect uses thermal expansion power of the PDMS (polydimethylsiloxane; $sylgar^{(R)}$ 184 silicone elastomer). The PDMS-based microactuator provides a large displacement due to a high thermal expansion coefficient (approximately 310ppm). The microacruator with 1mm length $350{\mu}m$ width is optimized by using a numerical analysis. The shape of the PDMS actuatoris variously designed. They are placed at several positions to find the optimal position that provides a high transformation ratio. The PDMS-based microactuators are fabricated using a conventional micromaching technique. The fabricated microactuator is heated using a hot-plate. The actuator displacement is measured as a function of temperature from $27^{\circ}C$ to $300^{\circ}C$. The experimental results are compared to the simulation result. When heating temperature up to $300^{\circ}C$ is applied to the PDMS actuator, each V-groove-shaped joint is actuated $30{\mu}$ mat $300^{\circ}C$. Anotherdesign of the microactuator has a maximum displacement of about 656mm.

• Advances in Computational Design
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• 제7권3호
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• pp.189-210
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• 2022

Deployable structures have the ability to shift from a compact state to an expanded functional configuration. By extension, reconfigurability is another function that relies on embedded computation and actuators. Linkage-based mechanisms constitute promising systems in the development of deployable and reconfigurable structures with high flexibility and controllability. The present paper investigates the deployment and reconfigurability of modular linkage structures with a pin and a sliding support, the latter connected to a linear motion actuator. An appropriate control sequence consists of stepwise reconfigurations that involve the selective releasing of one intermediate joint in each closed-loop linkage, effectively reducing it to a 1-DOF "effective crank-slider" mechanism. This approach enables low self-weight and reduced energy consumption. A kinematics and finite-element analysis of different linkage systems, in all intermediate reconfiguration steps of a sequence, have been conducted for different lengths and geometrical characteristics of the members, as well as different actuation methods, i.e., direct and cable-driven actuation. The study provides insight into the impact of various structural typological and geometrical factors on the systems' behavior.