• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.4
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• pp.738-745
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• 2001

In this paper, when the moving object move to the three-dimentional space, the tracking system track the moving object using the fuzzy reasoning. The joint angle el of the manipulator rotate from $0^{\circ}\; to\; 360^{\circ}$ , and the joint angle $\theta_2$rotate from$0^{\circ}\; to\; 360^{\circ}$. The fuzzy singleton is used for fuzzification and the control rule is twenty five and the fuzzy inference method is simplified Mamdani's reasoning and the defuzzification is the SCOG(Simplified Center Of Gravity) of the fuzzy controller To measure of the performance of the designed system, the fuzzy controller is compared with the CTM(Computed Torque Method) controller at the same condition. when the disturbance torque is ON, the both of CTM and fuzzy controller tracked object without error, However, the disturbance torque changed 0.4N, the CTM controller is 10 times greater than fuzzy controller at the sum of absolute error difference. The designed system is showed it's robustness against with disturbance.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.417-423
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• 2012

In this paper, In order to make up for the weak point of driving structure that existing used single motor in motor design, as a method to make use of advantage for joint of hollow type, we propose implementation methods for high torque, high precision, backlash less, and design of secondary safety device, and application method through joint organization using multiple motors.

• Journal of Dental Rehabilitation and Applied Science
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• v.26 no.3
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• pp.273-283
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• 2010

This study evaluated the effect of 3 different compatible screws on the detorque values in a multiple implant-supported superstructure and single implant abutments. An implant superstructure directly connected to 4 implants was screwed to 6 experimental dental stone casts made by acrylic resin splinted impressions, using 20 Ncm. The detorque values of screws were measured twice. Three compatible abutment screws used in this study were TorqTite screw, Gold-Tite screw, and, Titanium screw. And, using single implant abutments (GoldAdapt Engaging abutments), the detorque values of 3 different screws were measured twice on 2 implants of 5 experimental casts. According to statistical analysis of detorque values using mixed model at a .05 level of significance, no statistically significant differences among 3 different compatible screws were found in a multiple implant-supported superstructure (p>0.05). But, in single implant abutments, statistically significant differences among 3 different compatible screws were found (p=0.0175). The detorque values of TorqTite(p=0.0462) and Titanium(p=0.0348) screws were significantly higher than those of Gold-Tite screw, but no statisticantly significantlydifferences were found between TorqTite and Titanium screws(p>0.05). Therefore, various compatible screws showed significant effects on the detorque values for single implant abutment, but, showed no significant effects for a multiple implant-supported superstructure.

• Journal of Dental Rehabilitation and Applied Science
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• v.36 no.2
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• pp.95-103
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• 2020

Purpose: The purpose of this study was to compare the axial displacement of the hexagonal and conical abutment in internal conical connection implant after screw tightening and cyclic loading. Materials and Methods: Internal conical connection implants were divided into two groups (n = 10): group HEX, hexagonal abutment; and group CON, conical 2-piece abutments. The axial displacement and removal torque values were measured after 30 Ncm torque tightening and 250N loading test of 100,000 cycles. The Student t test with 5% significance level was used to evaluate the data. Results: HEX group demonstrated significantly higher axial displacement values after 30 Ncm tightening in comparison to the CON group (P < 0.05). No significant difference was found in axial displacement after cyclic loading (P = 0.052). Removal torque loss before and after the cyclic loading both revealed no significant difference between groups (P = 0.057 and P = 0.138). Removal torque value decreased after cyclic loading in both groups (P < 0.05). Conclusion: Overall, both abutment with or without hexagon index presented similar biomechanical performance except HEX group demonstrated significantly more axial displacement after applying tightening torque.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.4
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• pp.2370-2378
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• 2015

This paper proposes an algorithm using Lagrange interpolation method to realize trajectory planning for torque minimization of robot manipulators. For the algorithm, position constraints of robot manipulators should be given and the stability of robot manipulators should be satisfied. In order to avoid Runge's phenomenon, we set up time interpolation points using Chebyshev interpolation points. After that, we found suitable angle which corresponds to the points and then we got trajectories of joint's angle, velocity, acceleration using Lagrange interpolation method. We selected performance index for torque consumption optimization of robot manipulator. The method went through repetitive computation process to have minimum value of the performance index by calculated trajectory. Through the process, we could get optimized trajectory to minimize torque and performance index and guarantee safety of the motion for manipulator performance.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.1
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• pp.65-72
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• 2016

In this study, a fully active transfemoral prothesis with a knee joint is designed considering stair walking conditions. Since the torque at the knee joint required for stair walking condition is relative high compared with the one in normal walking condition, the proposed design has high torque generating mechanism. Moreover, the transfemoral prothesis is designed in compact size to reduce its weight, which is related to comfortable fit and fatigue of patients. Flat type BLDC motor is used for simple and compact structure and various components are used to generate required torque with target working angle and speed. The weight reduction of structure is carried out using optimization method after the initial design process is complete. The optimization is conducted under the load conditions of stair walking. The optimized design is validated via finite element analysis and experiments. As a result, the weight is reduced using topology and shape optimization but maintaining the safety of structure. Also the space efficiency is improved due to its compact size.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1383-1384
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.623-624
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• 2009

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.7-10
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• 2003

뱀형 로봇은 자유도보다 액추에이터의 수가 적은 논홀로믹 구속조건(nonholonomic constraint)을 가지며, 단순한 신체구조 이지만 초-여유자유도 구속조건(hyper-redundant constraint)을 이용해서 기밀한 운동과 다양한 기능을 만들어내는 특징을 가지고 있다. 본 논문에서는 6개의 관절로 각 링크가 2차원 상에서 직렬로 연결된 뱀형 로봇의 기구설계 및 기구학과 동력학을 바탕으로 설계된 기구에 대해 해석하여 운동방정식을 유도하여 추진원리와 운동원리에 관하여 알아본다. 기본적인 운동 메커니즘을 해석하여 구현한 알고리즘을 제작한 로봇에 적용하여 추진 원리와 운동원리를 검증한다. 실험용 로봇은 링크 중앙에 법선 방향으로 마찰력이 발생할 수 있도록 수동바퀴를 가지고 있으며, PC와 RF(Radio Frequency)로 직렬통신을 하며 PC에서의 운동 명령의 조작에 의해 전진, 후진, 좌/우 방향으로 회전을 할 수 있도록 운동 알고리즘을 적용할 수 있도록 제작되었다. 특징으로는 일반적으로 토크를 입력으로 하지 않고 각도를 입력으로 하여 관절을 제어하고 있다는 점이 있으며, 운동방정식 또한 이에 대한 관계를 바탕으로 유도한 것이다.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.12
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• pp.995-1006
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• 1989

If robots have the ability to track the parts on a moving conveyor belt, the efficiency of the manipulation tasks will be increased. This paper presents a motion planning algorithm for conveyor tracking. Tracking trajectory of a robot manipulator is determined by belt speed, initial part position, and initial robot position. Torque limit, maximum velocity, maximum acceleration and maximum jerk are also taken into account. To obtain the tracking solution, the problem is converted to the linear quadratic tracking problem. We describe the manipulator dynamics as second order state equation using parametric functions. Constraints on torques and smoothness are converted to those on input and state variables. The solution of the state equation which minimizes the performance index is obtained by dynamic programming method. Numerical examples are then presented to demonstrate the utility of the motion planning method developed.