• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.473-476
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• 2016

In this study, important design factors in Jansen leg mechanism by which two legs can be driven by only one input like a motor are considered through method of transmitting motion in three-bar linkage and Grashof law in four-bar linkage. In preliminary design, by using EDISON m-sketch and its simulation which can observe trace of feet, two identical four-bar linkages are initially designed and two three-bar linkages are added to four-bar linkages sequentially. By analyzing GL(Ground Length) and GAC(Ground Angle Coefficient), the adequacy of the preliminary design was estimated. Final design of walking apparatus is implemented using CAD software, Assembly2 of EDISON Designer. Finally, proposals to improve software used in this study are suggested.

• 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.

• 한국정밀공학회지
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• 제16권10호
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• pp.126-131
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• 1999

Up until now, it is said that no satisfactory computer solutions have been found for synthesizing four-bar linkage based on the prescribed coupler link curve. In our study, an algorithm has been developed to improve the design synthesis of four-bar linkage automatically generating prescribed path by using B-spline interpolation. The suggested algorithm generates the desired coupler curve by using B-spline interpolation, and hence the generated curve approximates as closely as to the desired curve representing coupler link trajectory. Also, when comparing each generated polygon with the control polygon, rapid comparison by applying convex hull concept. finally, optimization process using ADS is incorporated into the algorithm based on the 5 precision point method to reduce the total optimization process time. As for examples, three different four-bar linkages were tested and the results showed the effectiveness of the algorithm.

• Journal of Biosystems Engineering
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• 제28권1호
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• pp.19-26
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• 2003

An oscillating digger mechanism was designed, constructed. and tested. The mechanism is consisted of a six-bar linkage, one four-bar linkage was fer the digger blade and the other one fur variable soil-crop separation. Experimental variables were amplitude(3, 6, 9 mm). frequency(11.2, 14.9. 17.0 Hz), and forward speed of tractor(0.91, 1.13, 1.56 km/h). Each combination of these variables was replicated three times to measure the draft and torque for power requirement evaluation. and the broken-up soil height on the soil separation sieve mechanism. Four parameters λ(the ratio of vibration speed to forward velocity), p(the ratio of vibration acceleration to forward velocity), K(the ratio of vibration acceleration to gravitational acceleration), and T(the product of λ and K) were induced from three experimental variables: amplitude, frequency, and tractor speed. And the power requirement and soil separation ability were analyzed by regression. Though λ and K were known to be the representative parameters. T was the most moderate one to explain draft. torque. and soil separation in this study. It was estimated that the T equal to or greater than 2.4 was the minimum recommended value. Figure 18 would be useful fir the selection of amplitude. frequency, or operating tractor speed once any two variables are known.

• 항공우주시스템공학회지
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• 제5권1호
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• pp.1-6
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• 2011

It is very important to correctly set control surface linkage. But a lot of bad setting case has been seen in especially remote controled airplanes and middle size UAVs. In this paper, a three dimensional linkage from control surface to deflection sensor was analyzed kinematically and a position analysis was simulated using algebraic algorithm in terms of nonlinear error of deflection angle. Three correct settings of the linkage came out of this research. One is two-dimensional motion, another is link ratio of 1 and the other is that effective lever of the control surface should be perpendicular to a pushrod in their neutral position.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.107.1-107
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• 2002

$\textbullet$ Robot fingers $\textbullet$ Kinematics and dynamics of robot fingers $\textbullet$ 3 bar linkages $\textbullet$ Microprocessor control1er $\textbullet$ Serial communication $\textbullet$ Simulation Studies

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 추계학술대회 논문집
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• pp.464-466
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• 2014

The mechanism synthesis methods, graphical, analytical and computer-aided technique have been proposed for selecting and scaling mechanical system. According to developing computation tools, mechanism could be synthesized much faster and more correct than previous analytical ways by improved techniques. In this paper, the improved synthesis method is proposed to solve body guidance synthesis problem. To perform the mechanism synthesis for body guidance, a planar linkage is modeled as a set of free three bushings located in design space. The values of bushing stiffness and x, y position of bushings yielding a desired functional requirement related to input motion are found by using an optimization technique.

• 문화기술의 융합
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• 제9권1호
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• pp.525-530
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• 2023

2단 행거는 공간 활용도가 높고 설치가 쉬운 장점으로 인해 많은 가정에서 사용되고 있지만 사용 시 높이 조절이 불가능해 사용자가 상단봉에 걸려있는 옷을 내리기에 많은 어려움이 있다. 따라서 본 논문에서는 기존 2단 행거의 기능 및 장점은 유지하면서 사용자가 의류를 손쉽게 걸거나 꺼낼 수 있는 새로운 형태의 2단 행거 형상을 제안한다. 한 번의 동작으로 상단봉이 사용에 편리한 높이까지 내려올 수 있도록 적절한 링크기구를 설계하였으며 높이 조절 시 상/하단 의류가 겹치지 않도록 상/하단봉의 움직임을 입체형으로 구현하였다. 또한 상단봉이 내려올 때 행거가 넘어지지 않으면서 사용 후 고정이 해제되어 원래의 높이로 올라갈 수 있는 적절한 링크 길이와 조인트 위치 및 구속 조건을 선정하였으며 사용자의 안전을 위해 가스 스프링을 추가하여 하강 및 상승 속도를 조절하였다. 높이 조절시 옷의 하중을 지탱할 수 있도록 FEA 해석을 통해 개선 형상에 대한 안정성을 검증하였으며 실제 제작을 통해 입체형 높이 조절 행거의 작동 여부를 확인하였다.

• 항공우주시스템공학회지
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• 제6권3호
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• pp.24-28
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• 2012

An actuator should be added to a existing control linkage to make manned aircraft to unmanned. But it is quiet difficult to synchronize actuator with control surface because non-linear error necessarily occurs when four-bar linkage acts in three dimensional motion. In addition, in point of controller design view, while a real-time model needs the control surface deflection as its input, controller needs the actuator command as its output. Hence, the relation between both should be investigated. In this paper, the mathematical relation between actuator and control surface deflection investigated by kinematic analysis of a plant aircraft. The performance margin of the selected actuator also was verified.

• 로봇학회논문지
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• 제11권4호
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• pp.193-204
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• 2016

This paper presents an anthropomorphic finger prosthesis for amputees whose proximal phalanx is mutilated. The finger prosthesis to be proposed is able to make the amputees to perform the natural motion such as flexion/extension as well as self-adaptive grasping motion as if normal human finger does. The mechanism of finger prosthesis with three degrees-of-freedom (DOFs) consists of two five-bar and one four-bar linkages. Two passive components composed of torsional spring and mechanical stopper and only one active joint are employed in order to realize an underactuation. Each passive component is installed into the five-bar linkage. In order to activate the finger prosthesis, it is required for the user to flex and extend the remaining proximal phalanx on the metacarpophalangeal (MCP) joint, not an electric motor. Thus the finger prosthesis conducts not only the natural motion according to his/her intention but also the grasping motion through the deformation of springs by the object for human finger-like behavior. In order to reveal the operation principle of the proposed mechanism, kinematic analysis is performed for the linkage design. Finally both simulations and experiments are conducted in order to reveal the design feasibility of the proposed finger mechanism.