• Title/Summary/Keyword: Multi-joint Mechanism

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A development for a multi-joint biomechanical Rehabilitation system (생체역학적 다관절 재활운동 시스템의 개발)

  • 장재호;안정석;한창수;한정수;안재용
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2004.10a
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    • pp.1180-1185
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    • 2004
  • The purpose of this study is to develop a Multi-joint rehabilitation system (CMRS : C&R Lab. Multi-joint Rehabilitation System). This study presents the mechanism of rehabilitation system that enables rehabilitation of multi-joint with kinematical analysis for joints of human body. Also, the relative positioning between human subjects and the head part to rehabilitate for the mechanism is based on robotics and anatomy. This study was verified with simulations. Finally, Automation of positioning was realized. Rehabilitation exercises in passive mode were enabled with the results.

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6 DOF Industrial Robot Based on Multi-DOF Counterbalance Mechanism (다자유도 수동식 중력보상장치 기반의 6자유도 산업용 로봇)

  • Ahn, Kuk-Hyun;Song, Jae-Bok
    • The Journal of Korea Robotics Society
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    • v.12 no.1
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    • pp.11-18
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    • 2017
  • Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.

Design and Development of the Multi-joint Tracked Robot for Adaptive Uneven Terrain Driving (험지 주행을 위한 다관절 트랙 로봇 설계 및 개발)

  • Koh, Doo-Yeol;Kim, Soo-Hyun
    • The Journal of Korea Robotics Society
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    • v.4 no.4
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    • pp.265-272
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    • 2009
  • IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

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Approximate Synthesis of 5-SS Multi Link Suspension System (근사 합성법을 이용한 5-SS 멀티 링크 현가장치의 기구학적 설계)

  • 김선평;심재경;안병의;이언구
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.24 no.11
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    • pp.2665-2671
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    • 2000
  • Dimensional Synthesis, which is apart of kinematic synthesis, is to determine the dimensions of a mechanism of preconceived typer for a specified task and prescribed performance. In this paper, in an effort to provide designers with flexibility, a dimensional approximate synthesis method is presented for utilizing prescribed tolerance both the displacement and joint positions of a mechanism to be synthesized. For this, a constrained optimization problem is formulated with displacement parameters and joint positions as variables. The proposed method is applied to the synthesis of a 5-SS multi link suspension mechanism. The method discussed here, however, can be easily applied to any mechanism of which the kinematic constraint equations can be derived.

Development of Adaptive RCC Mechanism Using Double-Actuator Units (여자유도 액츄에이터를 이용한 능동RCC 장치의 개발)

  • Lim, Hyok-Jin;Kim, Byeong-Sang;Kang, Byung-Duk;Song, Jae-Bok;Park, Shin-Suk
    • The Journal of Korea Robotics Society
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    • v.2 no.2
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    • pp.168-177
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    • 2007
  • In a number of fields, robots are being used for two purposes: efficiency and safety. Most robots, however, have single-actuator mechanism for each joint, where the tasks are performed with high stiffness. High stiffness causes undesired problems to the environment and robots. This study proposes redundant actuator mechanism as an alternative idea to cope with these problems. In this paper, Double-Actuator Unit (DAU) is implemented at each joint for applications of multi-link manipulators. The DAU is composed of two motors: the positioning actuator and the stiffness modulator, which enables independent control of positioning and compliance. A three-link manipulator with DAUs enables adaptive control of RCC. By modulating the joint stiffness of the manipulator and controlling the position of RCC, we can significantly reduce contact force during assembly tasks and surgical procedures.

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Experimental Study on Multi-Stage Cold Forging for an Outer Race of a CV Joint (등속조인트용 외륜의 다단 냉간 단조공정에 관한 실험적 연구)

  • Kang, B.S.;Ku, T.W.
    • Transactions of Materials Processing
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    • v.23 no.4
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    • pp.221-230
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    • 2014
  • This study deals with a series of experimental investigations on multi-stage cold forging of an outer race used for a constant velocity (CV) joint with six inner ball grooves. The multi-stage cold forging, which consists of forward extrusion, upsetting, backward extrusion, and combined sizing-necking including ironing, was used to produce a prototype of the outer race. The cold forging tools such as forging punches and dies required in this multi-stage cold forging were also designed and fabricated. For the combined sizing-necking, especially, the longitudinally six-segmentallized punches were developed to easily eject from the necked inner groove of the outer race with consideration of the operating mechanism. Spheroidized SCr420H billet was used in the experimental study. To verify the suitability of the proposed process, the obtained parts were obtained from each forging operation, and the geometries were compared with the target dimensions. It was confirmed that the outer race with six inner ball grooves was well forged by adopting the proposed multi-stage cold forging, and the dimensional accuracy of the forged outer race matched well with the requirements.