• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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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.

• 로봇학회논문지
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• 제12권1호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.765-766
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• 2012

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 추계학술대회 논문집
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• pp.369-370
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• 2009

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.421-422
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• 2013

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.281-282
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• 2009

• 로봇학회논문지
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• 제4권4호
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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.

• 대한기계학회논문집A
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• 제24권11호
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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.

• 로봇학회논문지
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• 제2권2호
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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.

• 소성∙가공
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• 제23권4호
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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.