• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1662-1667
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• 2005

In this paper, analysis, design, control and prototype construction of a wearable wire-driven haptic interface called HapticPen is discussed. This device can be considered as a wire driven parallel mechanism which three wires are attached to a pen-tip. Wire tensions are provided utilizing three DC servo motors which are attached to a solid frame on the user's body. This device is designed as input as well as output device for a wearable PC. User can write letters or figures on a virtual plate in space. Pen-tip trajectory in space is calculated using motor encoders and force feedback resulting from contact between pen and virtual plate is provided for constraining the pen-tip motion onto the virtual plane that can be easily setup by arbitrary non-collinear three points in space. In this paper kinematic model, workspace analysis, application analysis, control and prototype construction of this device are presented. Preliminary experiments on handwriting in space show feasibility of the proposed device in wearable environments.

• The Journal of Korea Robotics Society
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• v.14 no.3
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• pp.203-210
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• 2019

This paper proposes a hand-controller mechanism for manually controlled endoscopic surgical instruments. A wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. The wire-driven mechanism requires length control of wires that are pulled and released according to the desired joint angle. It is difficult for the operator to control individual wire lengths intuitively. The hand-controller mechanism should be able to control the wires easily without complex processes. For this purpose, we propose a mechanism that can control the wire lengths with a simple mechanical structure and its optimal design method using genetic algorithm. We show the simulation and experimental results to confirm the proposed mechanism and design methods are useful for the manually controlled endoscopic surgical instrument.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.164-171
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• 2021

This paper proposes a continuum mechanism for manually controlled endoscopic surgical instruments. The wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. However, the conventional wire-driven mechanism has inherent problems caused by redundancy, such as deflection and low precision. It does not have operating force and manipulability for surgery. Therefore, a method to increase the force of the continuum mechanism using a multi-wire with simple mechanical structure is proposed. Moreover, for intuitive operation, a hand-controller mechanism that can manipulate the length of the wire without complex process is proposed. Finally, we show that the proposed mechanism and methods are applicable to endoscopic surgical tools through simple experiments.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2004.06a
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• pp.306-315
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• 2004

A Bridge Transported Servo Manipulator (BTSM) for Advanced spent fuel Conditioning Process (ACP) has been developed to overcome the limitation of access that is a drawback of Mechanical master-slave manipulators (MSMs) for the equipment maintenance. Wire-driven mechanisms have been adopted to increase the handling capacity to weight. The main disadvantage of the wire driven mechanism is that if one link is in motion, other links can be affected because wires and links are coupled. In this paper, the relationship between pulleys and links are formiliarized to overcome this drawbacks, Derived equations are proven and analyzed through experiments.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.4
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• pp.96-105
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• 2013

This paper presents a standardization method for designing wire harness systems, based on the control types and functional blocks, for use in commercial vehicles. With a rapid increase in the installation of systems with added new features, it is very important to develop a reliable wire harness design in a short time by standardizing wire harness designs and reusing the standard design. Because the function of a system, particularly, for commercial vehicles, varies significantly on the basis of the requirements, regulations, and options, it is not effective to establish one standard design for one system. In addition, a system with the same function may differ in terms of the input conditions and output loads on the basis of the installed vehicle types, and it is not practical to standardize a harness design targeting an entire system. In this study, the wire harness designs of a system were classified into six categories based on the control types of the system: switch driven, control of a switch, control of an electronic control unit, unit driven, control of a unit, and connector operation. Then, a wire harness design of each system was divided into three blocks according to their functions: the control, drive, and monitoring blocks. The standard wire harness designs were made for each functional block of each control type. The advantage of this proposed method is that an effective and practical design can be obtained, which covers the diversities in the same system for different grades of commercial vehicles with a reduction in the number of wire harness supplements.

• Journal of Power Electronics
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• v.9 no.1
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• pp.43-50
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• 2009

This paper deals with a novel solid state controller (NSSC) for an isolated asynchronous generator (IAG) feeding 3-phase 4-wire loads driven by constant power prime movers, such as uncontrolled pico hydro turbines. AC capacitor banks are used to meet the reactive power requirement of the asynchronous generator. The proposed NSSC is realized using a set of IGBTs (Insulated gate bipolar junction transistors) based current controlled 2-leg voltage source converters (CC- VSC) and a DC chopper at its DC bus, which keeps the generated voltage and frequency constant in spite of changes in consumer loads. The neutral point of the load is created using aT-configuration of the transformers. The IAG system is modeled in MATLAB along with Simulink and PSB (power system block set) toolboxes. The simulated results are presented to demonstrate the capability of the isolated generating system consisting of NSSC and IAG driven by uncontrolled pico hydro turbine and feeding 3-phase 4-wire loads.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.2 no.3
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• pp.189-199
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• 2004

A bridge transported servo manipulator (BTSM) system for the advanced spent fuel conditioning process (ACP) has been developed to overcome the limitation of access, which is a drawback of mechanical master-slave manipulators (MSM) for the equipment maintenance. The servo manipulator is composed of a slave manipulator attached to the telescoping tubesets equipped with the overhead bridge installed at a hot cell and a master manipulator installed at an out-of-hot cell. Each manipulator has 7 degrees-of-freedom (DOF): a body rotation, an upper-arm tilt, a lower-arm tilt, a lower-arm rotation, a wrist pan & tilt, and a grasp motion. A wire-driven mechanism for a lower-arm rotation, a wrist pan and tilt, and a grasp motion of the manipulator has been adopted to increase the handling capacity compared to the manipulator weight and decrease the friction. The main disadvantage of the wire-driven mechanism is that if one link is in motion, other links can be affected. In this paper, the transmission characteristics among the wire-driven links have been formulated to overcome this drawback. The unexpected behaviors are confirmed by analyses of transmission characteristics as well as experiments. Also, the experimental results show that the unexpected behaviors are greatly decreased by the proposed compensation equations.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.12 no.2
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• pp.161-169
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• 2000

The experiment was conducted to obtain correlation of the air side heat transfer coefficient of wire-on-tube type heat exchanger using the single layer heat exchanger. The correction factors to Zhukauskas correlation was driven from the experimental results. The numerical analysis and experiment with several wire-on-tube type condensers to validate the correction factors are also peformed. The maximum discrepancy between experimental results and the numerical results using the correction factors of this study and Zhukauskas correlation is 10.0%, while that of reference correlation is 47.5%.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2001.05a
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• pp.239-244
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• 2001

Hot hydrostatic extruder was developed. The main objective of the development is forming fine wire and tube. On account of effectiveness and high performance, the extruder was designed to have double action. Therefore the main cylinder and mandrel can be driven independently. To cope with severe condition of high temperature and pressure, wire-wound container equipped with heater was used. Sealing technique also is important in this process, so seal ring was made of super-elastic metal. Another key for successful forming is choice of proper pressure medium. Fine wire and tube produced by the extruder can be used in semiconductor industry and medicine.