• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1997.10a
• /
• pp.458-461
• /
• 1997

We have developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gar ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. For the purpose of autonomous walking and higher performance, we improved the previous developed BWR. We improved the motor drive efficiency, designed the ball screw actuator in a modular type, and simplified the electric wires. Through this modification, we achieved better performance in walking.

• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.9
• /
• pp.118-125
• /
• 2003

In this study, we carried out the finite element analysis for the screw of centrifuge that is the weakest part of the centrifuge for sewage management. Centrifugal force caused by rotation with velocity of 4000rpm was applied at the screw. Structural analysis was done with respect to the change of the ratio of blade pitch($R_P$), shaft diameter($R_D$) and extended hole($R_E$). When the area of circular hole is equal to that of extended holes, maximum equivalent stresses in the screw with circular and extended circular hole were compared. And then natural frequency analysis was executed for the same model. Three mode shapes were used to explain the vibration characteristics of each screw. Convergence study was accomplished fur more accurate results.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.29 no.6 s.237
• /
• pp.755-762
• /
• 2005

To evaluate the aerodynamic efficiency of TR-S2 configuration designed by SUDC, wind tunnel tests of $40\%$ scaled model were done in KARI LSWT. The aerodynamic characteristics of plain and Semi-Slotted Flaperon were compared, and vortex generators were installed to improve flow pattern along the wing surface. Effects of the control surface such as elevator, rudder, aileron, and incidence angle of horizontal tail are measured for various testing conditions. Test results showed that Semi-Slotted Flaperon produced more favorable lift, lift/drag, and stall margins and application of vortex generator would be best choice to enhance wing performance. Longitudinal, lateral and directional characteristics of TR-S2 were found to be stable for the pitch and yaw motions.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.6
• /
• pp.484-491
• /
• 2002

We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.

• Journal of Power System Engineering
• /
• v.12 no.6
• /
• pp.78-82
• /
• 2008

Plastic gears are more and more widely used in many industrial machine elements. Plastic gear has higher properties such as light weight, wear resistance, and vibration absorbing ability than metallic gears. But, in case of using an inaccurate plastic gear, its tooth breakage happen and fatigue life is shortened due to increase of applying load and temperature rising on the tooth flank. Inaccuracy of plastic gears such as pitch circle roundness and tooth profile generates vibration and noise. In this study, an internal plastic gears which is molded by a new injection mold structure are developed. The new mold structure is called the HR3P(hot runner type 3plate mold) that has an improved runner system in order to have good filling balance. As a result from this study, an internal gear with very accurate roundness was developed by using design of experiment.

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.696-701
• /
• 2000

In this study, a mathematical model fur analyzing the shift characteristics is proposed. The proposed model comprises power transmission system and vehicle system, which are coupled. And On-road car test is carried out in order to extract model parameters. Tile model is composed of a detailed powertrain, an engine/AT housing, a simplified suspension system. tires and a vehicle body model. On the test, the vehicle accelerations and pitch ratio are measured by using accelerometers and gyro sensor. The other data, for example speeds, a throttle position and a brake signal, are taken from sensors which already exist in the vehicle. Using natural frequency and characteristic equation, vehicle model parameters are extracted from experimental data.

• Proceedings of the KSME Conference
• /
• 2000.04b
• /
• pp.65-70
• /
• 2000

Experimental investigations were conducted to study the forced convection of fully-developed turbulent f)on· in horizontal equilateral duct fabricated with the same length and equivalent diameter, but different surface roughness Pitch ratio(P/e) of 4, 8 and 16 on the one side wall only The experiments were performed with the hydraulic diameter based Reynolds number ranged from 70.000 to 10,000 The entire bottom wall of the duct was heated uniformly and the other surfaces were thermally insulated. To understand the mechanisms of the heat transfer enhancement. measurements of the heat transfer were done to investigate the contributive factor of heat transfer promotion. namely the fin effect. And the results were compared with those of Previous investigations for similarly configured channels, at which they were roughened by regularly spaced transverse ribs in the rectangular and circular channels.

• Proceedings of the KSME Conference
• /
• 2003.11a
• /
• pp.598-603
• /
• 2003

A CFD analysis has been performed to investigate turbulent heat transfer in a triangular rod bundle with a pitch-to-diameter ratio(P/D) of 1.06. Anisotropic turbulence models predicted the turbulence-driven secondary flow in the triangular subchannel and the distributions of time mean velocity and temperature showing significantly improved agreement with the measurements over the linear standard ${\kappa}-{\varepsilon}$. The anisotropic turbulence models predicted turbulence structure in large flow region fairly well but could not predict the very high turbulent intensity of azimuthal velocity observed in narrow flow region(gap).

• The KSFM Journal of Fluid Machinery
• /
• v.17 no.4
• /
• pp.59-70
• /
• 2014

The motion of birds and insects have been studied and applied to MAV(Micro Air Vehicle) and AUV(Autonomous Underwater Vehicle). Most of AUV research is focused on shape and motion of single hydrofoil. However, double hydrofoil system is mostly used in real physics. This system shows completely different hydrodynamic characteristic to single hydrofoil because of wake interaction. The goal of this study is define the trajectory of wake interaction in double hydrofoil system. Moreover, trust and efficiency of various combined motion will be demonstrated. Symmetry airfoil is used for analysis an hydrodynamic characteristic. Forward wing's plunging and pitching motion is fixed, hide wing's Heaving ratio, Pitch phase shift from forward plunging and Heaving shift is changed. This study provide necessary basic data of motion optimization for double hydrofoil system.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.267-267
• /
• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR peformed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.