• 로봇학회논문지
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• 제18권1호
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• pp.110-116
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• 2023

In this study describes the design of Exo-suit to assist those who work in unstructured positions. The present study aimed to analyze various types of work, especially those performed in unstructured postures by heavy industry workers. Based on the motion capture analysis results, an attempt was made to develop a shoulder muscle-assistive Exo-suit capable of assisting a wearer who is working using shoulder muscles. In the present study, as the first step of developing a shoulder muscle-assistive Exo-suit, different working scenarios were simulated, and the corresponding motion data were estimated using motion capture devices. The obtained motion data were reflected in the design of the Exo-suit. The main structure of the shoulder muscle-assistive Exo-suit was made of a carbon fiber-reinforced composite to obtain the weight reduction. The shoulder muscle assistive Exo-suit was designed to fully cover the range of motion for workers working in unstructured postures.

• 로봇학회논문지
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• 제14권3호
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• pp.179-185
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• 2019

This paper presents cable-hydraulic driven 3DoF (Degree-of-Freedom) manipulator for cooperative robot with high output/low inertia and enhancing lager workspace of hydraulic manipulator. Hydraulic actuation could be solution to design more higher output manipulator than the one of electric motor actuation due to install actuation source and robot joint separated. In spite of this advantage, the conventional hydraulic driven manipulator using cylinder or vane actuator is not suitable for the candidate of cooperative robot because smaller workspace owing to small RoM (Range of Motion) hydraulic actuator. In this paper, we propose 3DoF manipulator with cable-hydraulic actuation which is more larger ratio of payload-to-weight than the one of conventional cooperative manipulator and larger workspace than the one of existing hydraulic driven manipulator. The performance of proposed manipulator was demonstrated by the experiments for confirming overall workspace task, high payload operation task under worst situation and comparing repeatability between developed manipulator and existed cooperative robots. The results of experiments showed that the appropriate performance of proposed manipulator for cooperative robot.

• 한국자동차공학회논문집
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• 제23권5호
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• pp.524-536
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• 2015

The paper aims to design and verify tearing tube type energy absorption device applied in tram to ensure safety in case of collision accident. Energy capacity of tearing tube is determinated based on EN15227 and Standard Collision Scenarios Criterion in Detail in Republic of Korea. Tearing tube is designed based on theoretical model suggested by X.Huang et al. and assumption by T.Y. Reddy et al. Real scale collision tests are conducted to analyze the energy absorption characteristics and deformation mode. Bending of curl tips is absorbed collision energy when curl tips and tube body are contacted to each other from the tests and we suggest and include the formula on bending of curl tips in theoretical model.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2010-2015
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• 2003

In this paper, a design and control of the safe arm with passive compliant joints(PCJ) is presented. Each PCJ has a magneto- rheological damper and maximum 6 springs. Compliance analysis in Cartesian space is performed with the compliance ellipsoid; this analysis shows a map between compliance in the joint space and compliance in Cartesian space. Vibration control of the arm using an input shaping technique is also presented; the results of a simulation and an experiment prove that a fast motion of the safe arm without residual vibration can be performed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1679-1683
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• 2005

This paper suggests the new type of a joint torque sensor which is attached at each joint of a manipulator for making compliance. Previous six axis force/torque sensors are high cost and installed end-effector of the manipulator. However, torque on links of previous an end-effector cannot be measured. We design a joint torque sensor that can be fully integrated with an actuator in order to measure applying torque of the manipulator. The sensor system is designed through the structural analysis. The proposed joint torque sensors are installed to the 6 DOF manipulator of a mobile robot for hazardous works and we implemented experiments of measuring applied torque to the manipulator. By the experiment, we proved that the proposed low-cost joint torque sensor gives acceptable performance when we control a manipulator.

• 제어로봇시스템학회논문지
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• 제10권2호
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• pp.192-196
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• 2004

A combined optimal design problem is discussed taking a 3-D truss structure as a design object. We use descriptor forms for a controlled object and a generalized plant because the structural parameters appear naturally in these forms. We consider not only the minimum weight design problem for the structure, but also the suppression problem of the effect of disturbances for the control system as the purpose of the design. A numerical example shows the validity of combined optimal design of the structure and control systems. We also consider the validity of the sensor-actuator collocation for the control system design in this paper.

• 제어로봇시스템학회논문지
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• 제8권10호
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• pp.842-846
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• 2002

Design of gas concentration process using a fully thermally coupled distillation is conducted with the commercial design software HYSYS. Detailed procedure of the design is explained, and the performance of the process is compared with that of a conventional system A structural design is exercised for the design convenience. The design outcome indicates that the procedure is simple and efficient. The structural information yielded from equilibrium distillation gives an easy formulation of distillation system which is the initial input required from the setup of the distillation system The performance of the new process indicates that an energy saving of 17.6 % is obtained compared with the conventional process while total number of trays maintains at the same.

• 제어로봇시스템학회논문지
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• 제2권1호
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• pp.45-52
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• 1996

This work deals with the kinematic and dynamic optimal design of a six degree-of-freedom Stewart Platform mechanism, which is actuated by six prismatic cylinfers. Composite design index is employed to deal with multi-criteria based design in a systematic manner, and a sequential design method is suggested, in which the results from the kinematic optimization are employed in the following dynamic optimization.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.824-836
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• 2008

Relaxed static stability(RSS) concept has been applied to improve aerodynamic performance of modern version supersonic jet fighter aircraft. Therefore, flight control systems are necessary to stabilize an unstable aircraft, and provides adequate handling qualities and achieve performance enhancements. Standard FCSDVP (Flight Control System Design and Verification Process) is provided to reduce development period of the flight control system. In addition, if this process is employed in developing flight control system, it reduces the trial and error for development and verification of flight control system. This paper addresses the flight control system design and verification process for the RSS aircraft utilizing design goal based on military specifications, linear and nonlinear system design and verification based on universal software, handling quality test based on HILS(Hardware In-the-Loop Simulator) environment, and ground and flight test results to verify aircraft dynamic flight responses.