• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1998년도 동계 학술대회 논문집
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• pp.475-480
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• 1998

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• 제6권1호
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• pp.38-43
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• 2003

This paper presents the results of a post-tensioning test and analysis of a pyramidal unit structure that is basic element for space structures. The behavior characteristics was analyzed and compared with the numerical analysis and the mechanism in test model was confirmed with geometrical analysis. The results of this paper show that the behaviors of space structures can be predicted in multi-directional Mero joint system. And the authors suggest the possibility of erection and shaping formation with comparatively small post-tensioning, and space structure with the mechanism should consider the nonlinear behavior due to large deformation.

• EDISON SW 활용 경진대회 논문집
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• 제5회(2016년)
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• pp.455-462
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• 2016

Recently, followed by rapid growth of robotics field, multi-linkage mechanism which can even pass by rough road is getting lots of attention. In this paper, I focused on Jansen mechanism. It's a kinematics object which is named after Dutch artist Theo jansen. Jansen mechanism embraces structure and mechanism which creates locomotion with the combination of the power and simple structure. Theo jansen suggests a 'Holy number'. It's an ideal ratio of leg components length. However, if there's desired gait locomotion, you have to adjust the ratio and the length. But even slight change of the length could cause a big change at the end-point. To solve this problem, I suggest a reverse engineering method to get a ratio of each links by nonlinear optimization with pre-set desired trajectory. First, we converted a movement of the joint of Jansen mechanism to vectors by kinematics analysis of multi-linkage structure. And we showed the trajectory at the end-point. After that, we set desired trajectory which we found most ideal. Then we got the length of the leg components which draws a trajectory as same as trajectory we set, using Multi-objective genetic algorithm toolbox in MATLAB. Result is verified by Edison designer and mSketch. And we analyzed if it could pass through the obstruction which is set dynamically.

• Tribology and Lubricants
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• 제19권2호
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• pp.85-93
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• 2003

In this study, a multigrid multi-integration method has been used to solve the steady-state, elastohydrodynamic lubrication (EHL) point contact problem of a ball joint mechanism used in small reciprocating compressors. Pressure and film thickness profiles have been calculated at minimum and maximum Moes M parameter conditions during one revolution of crankshaft. The effects of various lubricant viscosities, loads, ball velocities, elastic modulli, and radii of curvature on the calculated pressure distribution and film thicknesses have been investigated. The results indicate that the viscosity of lubricant, the sliding velocity of ball, and the reduced radius of curvature have considerable effects on the minimum and central film thicknesses. Solutions obtained with the multigrid analysis are compared with results calculated according to the Hamrock ＆ Dowson relations for the minimum and central film thicknesses.

• 로봇학회논문지
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• 제9권4호
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• pp.264-271
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• 2014

In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots.

• 한국강구조학회 논문집
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• 제13권4호
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• pp.327-335
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• 2001

강관 적층용접부에서 발생하는 잔류응력의 특징과 생성 메커니즘을 밝히기 위해 유한요소법을 이용한 3차원 열탄소성 해석을 수행하였다. 용접에 의해 강관을 접합할 때, 원주방향잔류응력과 두께방향잔류응력은 강관 내 외부에서 모두 접합부에서 인장응력이 발생하고, 길이방향잔류응력은 강관 내무에서 인장응력, 외부에서 압축응력이 발생된다. 또한 강관 적층 용접부의 잔류응력 생성기구를 명확히 하였다. 그 결과, 강관의 용접에 의한 잔류응력은 열응력에 의해 발생 할 뿐만 아니라, 강관의 기하학적 형상변화에 의한 영향도 받는다는 것을 밝혔다. 그리고, 용접조건과 강관의 제원이 달라질 경우에도 잔류응력 생성기구가 변함이 없음을 밝혔다.

• Journal of Welding and Joining
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• 제19권5호
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• pp.499-505
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• 2001

In order to classify the mechanical phenomena of thermal elasto-plastic behavior on the multi-spot welded joints, this study has tried to carry out three-dimensional thermal elasto-plastic analysis on them. However, because the shape of multi-spot welded joints is not taxi-symmetric, unlike the cafe of single-spot welded joint, the solution domain for simulation should be three dimension. Therefore, in this paper, firstly, the three-dimensional thermal elasto-plastic program is developed by an iso-parametric finite element method. Secondly, from the results analyzed by developed program, this has clarified mechanical characteristics and their production mechanism on single and multi-spot waled joints. Moreover, it has been intended to make clear effects of pitch length on welding residual stresses, plastic strain of multi-spot welded joints.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.219-224
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• 2004

In recent years, as the demands of VBNS(Very high speed Backbone Network Service) and VDSL(Very high-data rate Digital Subscriber Line) increase, the development of kernel parts of optical communication such as PLC(Planar Light Circuit), Coupler, WDM elements increase. The alignment and the attachment technology are very important to fabricate the optical elements for communication. In this paper, the mechanism of rotational stage, the contact sensing unit, and integrated control circuit for the optical alignment system are studied.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2005년도 춘계학술대회 논문집
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• pp.150-155
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• 2005

In recent years, as the demands of VBNS(Very high speed Backbone Network Service) and VDSL(Very high-data rate Digital Subscriber Line) increase, the development of kernel parts of optical communication such as PLC(Planar Light Circuit), Coupler, WDM elements increase. The alignment and the attachment technology are very important to fabricate the optical elements for communication. In this paper, the mechanism of rotational stage are studied. with the three different method and the results of them are applied to the design of the system. The performance test of resolution and travel is performed.

• 제어로봇시스템학회논문지
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• 제6권4호
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• pp.327-332
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• 2000

In this paper, a new multi-fingered robot hand using ultrasonic motors and its control system are developed. The developed robot hand has four fingers and fifteen articulated joints. The distal joint of each finger is directly driven by ultrasonic motor and all joints except the distal joint has low transmission gear mechanism with the motor. The developed robot hand has several advantages in size compared to a hand using conventional DC motors, and in performance compared to a hand using tendons to drive joints. A VME-bus based hand control system and ultrasonic motor driver are also developed. The performance of the hand is confirmed by using the developed control system in real-time.