• Journal of Advanced Marine Engineering and Technology
• /
• v.32 no.2
• /
• pp.343-350
• /
• 2008

In this paper, a six degree-of-freedom robot arm which is very light but capable of delivering heavy loads was studied. The proposed robot arm has much higher load capacity than conventional robot arms actuated by motors with speed reducers such as the harmonic drive since a new type of robot actuator based on a closed chain mechanism driven by the ball screw was adopted. Analysis on the design scheme and on the mechanism of the joint actuator of the robot arm were made. Since the robot arm was designed very light, it has deflection in the links. To analyze this, a finite element analysis on the structure of the designed robot links was made using ANSYS software. Verifying experiments on the performance of high load capacity of the robot arm was performed by loading heavy weights on the robot arm. Through experiments. the correctness of the numerical analysis was also verified.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.1
• /
• pp.22-27
• /
• 2012

This paper presents a ball screw-driven robotic gripper mechanism which is possible to grasp an object and analyzes its kinematic feature for grasping by simulation. For the purpose of identifying the feature of the robot gripper, we try to confirm the kinematics relating the joint space of the driving actuator to the gripper's tip space. To be specific, the proposed robot gripper employs one actuator and a symmetrical closed-chain structure. As a result, the specified robot gripper has an advantage of robustness to external forces structurally, and it is easy to implement simple grasping operations. Also the gripper has a useful squeezing effect for power grasping.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.6 s.171
• /
• pp.98-108
• /
• 2005

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.

• The Journal of Korea Robotics Society
• /
• v.12 no.2
• /
• pp.161-172
• /
• 2017

Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.

• ETRI Journal
• /
• v.17 no.1
• /
• pp.23-36
• /
• 1995

We present a performance evaluation model of cell reassembly mechanism in an ATM switching system. An ATM switching system may be designed so that communications between processors of its control part can be performed via its switching network rather than a separate inter-processor communications network. In such a system, there should be interface to convert inter-processor communication traffic from message format to cell format and vice versa, that is, mechanisms to perform the segmentation and reassembly sublayer. In this paper, we employ a continuous-time Markov chain for the performance evaluation model of cell reassembly mechanism with individual buffering, judicially defining the states of the mechanism. Performance measures such as message loss probability and average reassembly delay are obtained in closed forms. Some numerical illustrations are given for the performance analysis and dimensioning of the cell reassembly mechanism.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.05a
• /
• pp.295-296
• /
• 2006

We developed wire frame drive unit based on SMA for the 3D Shape display. Our basic concept is wire frame combination connected with a chain form which can create various shapes and it compared with pin array mechanism which is not able to display mushroom shape. It imitates antagonist mechanism of human musculoskeletal system. we create similar motion using repair-relaxation mechanism and locking mechanism by SMA. Therefore, in this paper, we propose SMA control solution for actuating repair-relaxation mechanism and locking mechanism. In our control system. we use optical sensor and quantitative angle between wire frames for closed loop control. And we supply amplified current for SMA by circuit composed of transistor and apply PWM signal to circuit for efficient control. So, wire frame drive unit enable diversity angle control based on sensor data. And then combination of wire frame drive units will create various objects.

• Journal of the Korean Operations Research and Management Science Society
• /
• v.22 no.2
• /
• pp.139-151
• /
• 1997

An ATM switching system may be designed so that communications between processors of its control part can be performed via its switching network rather than a separate inter-processor communications (IPC) network. In such a system, there should be interfaces to convent IPC traffic from message format to cell format and vice versa, that is, mechanisms to perform the SAR (Segmentation And Reassembly) sublayer functions. In this paper, we concern the cell reassembly mechanism among them, mainly focussed on buffer management schemes. We consider a few alternatives to implement cell reassembly function block, namely, separated buffering, reserved buffering and shared buffering in this paper. In case of separated and reserved buffering, we employ a continuous time Markov chain for the performance evaluation of cell reassembly mechanism, judicially defining the states of the mechanism. Performance measures such as measage loss probability, mean number of message queued in buffer and average reassembly delay are obtianed in closed forms. In case of shared buffering, we compare the alternatives for implementing cell reassembly function block using simulation because it is almost impossible to analyze the mechanism of shared buffering by analytical modeling. Some illustrations are given for the performance analysis of the alternatives to implement cell reassembly function block.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.10a
• /
• pp.540-543
• /
• 2002

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, we proposed and constructed a new type of the robot actuator which is four-bar-link mechanism driven by the ball screw. We developed a new type of a revolute-jointed robot manipulator composed of four axes. The base axis is actuated with conventional speed reducer, but the others are actuated by the proposed actuators. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates, and then they are mapped into the sliding coordinates of the ball screw. The structure specifications of the manipulator shown.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.1156-1161
• /
• 1990

The concept of the manipulability measure of the robotic mechanism is extended to the dual arm holding a single object. This is a measure of manipulating ability of the dual arm forming a closed kinematic chain in positioning and orienting the object. Dual arm manipulability measure is defined and compared to the single arm manipulability measure, and some properties are investigated.

• Asian Journal of Atmospheric Environment
• /
• v.4 no.2
• /
• pp.63-71
• /
• 2010

The removal characteristics for aromatic and aliphatic VOCs by electron beam (EB) were discussed in terms of several removal variables such as initial VOC concentration, absorbed dose, background gas, moisture content, reactor material and inlet temperature. It was reviewed that only reactor material was an independent variable among the potential control factors concerned. It was also suggested that main mechanism by EB should be radical reaction for the VOC removal rather than that by primary electrons. It was discussed that the removal efficiency of benzene was lower than that of hexane due to a closed benzene ring. In the case of aromatic VOCs, it was observed that the decomposition of the VOCs with more functional groups attached on the benzene ring was much easier than those with less ones. As for aliphatic VOCs, it was also implied that the longer carbon chain was, the higher the removal efficiency became. An EB-catalyst hybrid system was discussed as an alternative way to remove VOCs more effectively than EB-only system due to much less by-products. This hybrid included supporting materials such as cordierite, Y-zeolite, and $\gamma$-alumina.