• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.15-18
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR performed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.458-461
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• 1997

We have developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gar ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. For the purpose of autonomous walking and higher performance, we improved the previous developed BWR. We improved the motor drive efficiency, designed the ball screw actuator in a modular type, and simplified the electric wires. Through this modification, we achieved better performance in walking.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.267-267
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR peformed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• Journal of agriculture & life science
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• v.52 no.6
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• pp.127-138
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• 2018

In this study, the operational characteristics of a domestic vegetable transplanter were investigated. The main functional components and power path of the tranplanter were analyzed. The link structure of transplanting device waskinematically analyzed, and 3D modeling and dynamic simulation were performed. Based on this analysis, the trajectory of the bottom end of the transplanting hopper was analyzed. Also, the plant spacing according to the engine speed and the shifting stage of transplanting transmission was analyzed and verified by field test. As main results of this study, the transplanting device is one degree of freedom(DOF) 4-bar link type mechanism which comprises 10 links and 13 rotating joints. The transplanting hopper plants seedlings in a vertical direction while maintaining a constant posture by the links of transplanting device. The power is transmitted to both the driving part and transplanting part from the engine, and the maximum and minimum plant spacing of the transplanting device were 428.97 mm and 261.20 mm.

• Proceeding of EDISON Challenge
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• 2015.03a
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• pp.476-478
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• 2015

This paper deals with synthesis of 4 bar linkage by using optimum design. To design 4 bar linkage, overlay method is proposed and for optimization, genetic algorithm is applied with objective function. The accuracy of this method will be determined by errors between real value and test value. We will use Chebychev spacing to get 3 precision positions of input angles. The output angles will be determined by the function that the designer wants input and output relations to be. It will be applied to example to show the accuracy of this method. The advantages of using this method are that it is fast to get optimal solution and it is simple to use.

• CDE review
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• v.21 no.2
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• pp.31-33
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• 2015

This paper deals with synthesis of 4 bar linkage by using optimum design. To design 4 bar linkage, overlay method is proposed and for optimization, genetic algorithm is applied with objective function. The accuracy of this method will be determined by errors between real value and test value. We will use Chebychev spacing to get 3 precision positions of input angles. The output angles will be determined by the function that the designer wants input and output relations to be. It will be applied to example to show the accuracy of this method. The advantages of using this method are that it is fast to get optimal solution and it is simple to use.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.180-185
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• 2004

Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.11 s.242
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• pp.1534-1541
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• 2005

Unlike industrial manipulators, the manipulators mounted on service robots are interacting with humans in various aspects. Therefore, safety has been one of the most important design issues. Many compliant robot arms have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safety mechanism based on passive compliance is proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safety mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of this mechanism is verified by simulations and experiments. It is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms or active methods.

• Journal of the Korean Society of Mechanical Technology
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• v.20 no.6
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• pp.912-916
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• 2018

Crawling robots are advantageous in overcoming obstacles. These robots have characteristics such as light weight and outstanding mobility. In case of large robots, they have difficulties passing narrow gaps or entering the cave. In this paper, we propose a milli-scale hexapedal robot using 4-bar linkages. Two conditions are necessary to enable efficient walking. In short, the trajectory of the foot must be elliptical, and the lowest point of the foot should be the same. These conditions are satisfied with a novel leg design. The robot has a pair of three legs and the legs are coupled to operate simultaneously. Each set of the legs are installed to robot's both sides and the legs satisfy the equal lowest foot point and elliptical trajectory. As a result, this hexapedal robot can crawl with 0.56m/s speed.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.4
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• pp.16-23
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• 2021

Currently, 6-axis articulated robots are used throughout the industry because of their 6-dof (degrees of freedom) and usability. However, 6-axis articulated robots have a fixed base and their movements are limited by the rotational operating range of each axis. If the angle of the 2-axis additional axes can be adjusted according to the position and orientation of the end-effector of the 6-axis articulated robot, the effectiveness of the 6-axis articulated robot can be further increased in areas where the angle is important, such as welding. Therefore, in this paper, we proposed a cooperative kinematic inter-operation strategy. The strategy will be verified using the Simulink of MATLABⓇ, an engineering program, and RecurdynⓇ, a dynamic simulation program.