• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.888-894
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• 2016

This paper presents the kinematic and dynamic analysis of the robot arm for inspection and rescue operations. The inspection robot arm has Pitch-Pitch-Pitch-Yaw motion for an optimal and stable view of the camera installed at the end of the manipulator. The rescue operation robot arm has Yaw-Pitch-Pitch-Roll motion to handle heavy tools. Additionally, both robot arms are waterproof, as they use the triple-layer O-ring. Furthermore, the dynamic equation including the damping force due to the mechanical seal for waterproofness was derived by using the Newton-Euler method. A control system using the ARM processor was developed and introduced in this paper, and its performance was verified through experiments.

• Nuclear Engineering and Technology
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• v.56 no.7
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• pp.2718-2731
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• 2024

To ensure the operational safety of nuclear power plants, we present a Quadruped Inspection Robot that can be used for many types of steam generators. Since the Inspection Robot relies on the Holding Modules to grip the tube-sheet, it can be regarded as a hybrid robot with variable configurations, switching between 4-RRR-RR, 3-RRR-RR, and two types of 2-RRR-RR, and the variable configurations bring a great challenge to dimensional synthesis. In this paper, the kinematic model of the Inspection Robot in multiple configurations is established, and the analytical solution is given. The workspace mapping is analyzed by the solution-space, and the workspace of multiple configurations is decomposed into the workspace of 2-RRR to reduce the analysis complexity, and the workspace calculation is simplified by using the envelope rings. The optimization problem of the manipulator is transformed into the calculation of the shortest contraction length of the swing leg. The switching performance of the Inspection Robot is evaluated by stride-length, turning-angle, and workspace overlap-ratio. The performance indexes are classified and transformed based on the proportions and variation trends of dimensional parameters to reduce the number of optimization objective functions, and Pareto optimal solutions are obtained using an intelligent optimization algorithm.

• The Journal of the Convergence on Culture Technology
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• v.10 no.1
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• pp.465-470
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• 2024

Kitchen cabinets are widely used for their spacious storage and efficient use of space, but their high installed location makes it difficult for the elderly and disabled to access. Therefore, in this paper, we propose a new height-adjustable kitchen cabinet that can be used more easily and safely. The lift-down range of cabinet was set considering the installation location of cabinet for efficient use of kitchen space and the maximum height accessible to the elderly and disabled, and the link geometry and driving method of the complex link mechanism were determined through the mechanism design procedure to ensure that the selected floor come down safely along the optimal descend path. In addition, the appropriate motor and control algorithm were added to allow the user to descend to the desired height with a simple button operation. It was confirmed through actual production that the proposed linkage mechanism performs the desired lift-down motion.

• The Journal of the Convergence on Culture Technology
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• v.10 no.1
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• pp.459-464
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• 2024

The purpose of this study is to design a toilet lifting seat to prevent falls accidents in the elderly while using the toilet. Prior to design, laws and national standards related to restroom use were investigated and the available space for the assistive devices to be installed was determined. In additions, considering the body size and operating range of the elderly, the optimal final position of the toilet seat is set so that users can use it more safely and conveniently without external help. Moreover, in order to provide an effective standing assistance function, a complex 4-bar link structure was applied to enable simultaneous seat elevation and angle adjustment when operating the device, and the appropriate link shape and dimensions were determined using a linkage program and UG NX. FEA analysis using ANSYS Workbench is performed to ensure the robustness of the stretched linkage and the feasibility of the lifting seat is verified through fabrication.

• Journal of the Society of Naval Architects of Korea
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• v.35 no.2
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• pp.51-62
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• 1998

In this paper, a CAD/CAM system for 5-axis machining of model propeller is introduced. This system has been developed under the environment of personal computer and Windows NT. In order to enhance the productivity, existing text-based design S/W was integrated into this graphic-based system. Non-Uniform Rational B-Spline method is used to represent the sculptured surface of propeller blades and hub using point data, and surface blending between blade and hub is realized in this system. For 5-axis machining of sculptured surface, tool/work collision and interference are checked and inverse kinematic analysis is performed to make NC data. In addition, tool and workpiece are animated on the PC monitor by preparing NC verification module. Finally, optimal cutting conditions are determined empirically and those cutting conditions are integrated into this S/W so that the whole process from design to machining can be done automatically.

• The Journal of the Convergence on Culture Technology
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• v.9 no.6
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• pp.429-434
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• 2023

Kitchen cabinets are essential furniture for storing the kitchen tools, but their high installed location makes it difficult for users to access the upper of the cabinets. Therefore, in this paper, we propose a new type of kitchen cabinet that allows users to easily take out or store items by adding new height adjustment features while maintaining the function of the existing cabinet. For convenience and safety, an appropriate complex link mechanism is designed so that the selected floor, not the entire cabinet, can come down to a desired height with one operation. Moreover, the optimal descent path is set to prevent the floor tilting or interfloor interference during descent, and appropriate link shapes, lengths, and joint types are selected to implement it. FEA analysis is performed to ensure that the stretched complex linkage can support the load of the stored items and the feasibility of the height adjustable kitchen cabinet is verified through fabrication.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.6
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• pp.769-774
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• 2013

Turbine blades and disc, which are one of the most important rotating parts of a gas turbine engine, are required to have highly efficient performance in order to minimize the total life cycle costs. Owing to these requirements, these components are exposed to severe conditions such as extreme turbine inlet temperatures, high compression ratios, and high speeds. To evaluate the structural integrity of a turbine disc under these conditions, material modeling and finite element analysis techniques are essential; furthermore, shape optimization is necessary for determining the optimal solution. This study aims to generate 2D finite element models of an axisymmetry model and a sector one and to perform thermal-structural coupled-field analysis and contact analysis. Structurally vulnerable areas such as the disc bore and disc-blade interface region are analyzed by a parametric study. Finally, an improved design is provided based on the results, and the necessity of elaborate shape optimization is confirmed.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2006.06a
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• pp.569-570
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• 2006

The conditioning process is very important process for the CMP (Chemical Mechaning Polishing). This process regenerates the roughness of the polishing pad during the CMP process, increases the MRR (Material Removal Rate) and gives us longer pad life so conditioning process is essential for the CMP, and conditioning process influences the polishing pad shape gradually. Conditining process is related to the Non-Uniformity. In This paper, Kinematic of the conditioning process and mathematic modeling of the pad wear is studied and result shows how the various parameters influence the pad shape and WIWNU[1]. Consequently through these parameter, optimal design of the conditioning process equipment is predicted.