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Development of a coupled tendom driven robot hand

  • Choi, H.R.;Lee, Y.T.;Kim, J.H.;Chung, W.K.;Youm, Y.
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10b
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    • pp.185-190
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    • 1993

  • The POSTECH Hand adopting coupled tendon driven technique with planar two fingers is developed. The hand is designed to emulate principal motions of the human hand which has two and three joints respectively. Its kinematic parameters are determined through a parameter optimizing technique to aim at improving the isotropy of fingertip motions with new criterion functions of design. For the control of the hand, tension and torque control algorithms are developed. Based on the virtual stiffness concept, we develop the stiffness control method of a grasped object with redundant finger mechnism and investigate experimentally.

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Control of tendon driven one-link manipulator

  • Choi, H.R.;Lee, Y.T.;Kim, J.H.;Chung, W.K.;Youm, Y.
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10b
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    • pp.290-295
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    • 1992

  • Tendon driven method to drive one joint using two actuators is developed and implemented. While the method has advantages over conventional transmissions, it also has several drawbacks like tendon slack, elongation and endurability. In this paper, a compensation method of the intrinsic non-linearities of tendon is proposed to improve the performance of antagonistic tendon driven method. In this method, tendon tension measurement is prerequisite which is measured with strain gauge type tension sensor. The developed method is implemented on one link test bed with colocated and non-colocated position sensor.

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A development of auto-ranging and diagnostic method of thyratron (싸이라트론의 진단 및 자동 조절 장치 개발)

  • Kim, S.H.;Park, S.S.;Han, Y.J.;Kim, S.C.;Nam, S.H.
    • Proceedings of the KIEE Conference
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    • 2000.07c
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    • pp.2129-2131
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    • 2000

  • The thyratron is a very important device in the modulator as the high power switch but there is no method to diagnose the inside of the thyratron. The thyratron always require ranging, maintaining of the proper pressure, for the optimum operation of the thyratron. But, up to now this only depends on the experience of the operator. In this paper, we discuss the diagnostic of the thyratron by the convection heat current and the principle and experimental data will be compared for the automatical adjustment of optimum gas pressure of the thyratron at the intial stage.

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Characterization of the Hydrogen Reservoir for a High Power Gas Switch

  • Lee, B.J.;Park, S.S.;Kim, S.H.;Kwon, S.J.;Jang, S.D.;Joo, Y.
    • Proceedings of the Korean Vacuum Society Conference
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    • 2012.08a
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    • pp.261-261
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    • 2012

  • This paper presents the understandings carried out for the installation of the hydrogen reservoir of the multi-gap pseudospark switch under developing for the accelerator applications. As a cold cold cathode switch, the pseudospark switch could replace the thyratron switch which has hot cathode and being used well currently in the high power field such as laser and accelerator applications. Especially in the klystron modulator, the key component is a switch which mostly defines the jitter and the instability of the modulator system. To get the less jitter and the instability, we need to find proper range of the pressure for the gas discharge inside gas switch. This could be achieved by the understanding of the characteristic of the nonevaporable getter (NEG) which is used as a hydrogen reservoir for the switch. Therefore we verified the characteristics of the NEG (St 172, Saes) and its installation in the switch. Finally we controlled the getter to find best pressure point for the pseudospark switch.

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