• 한국정밀공학회지
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• 제15권3호
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• pp.88-98
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• 1998

In many automatization applications, a rigid body is required to go forward and backward repeatedly through a set of given position/orientations precisely while a crank is rotated. Such a motion can be generated by 6 bar mechanism adding a dyad to a 4 bar mechanism. If this is the case for 3 position synthesis of the 4 bar mechanism, the feasible solution area for designing the 4 bar mechanism will be limited over the general solution area. This paper proposes a procedure to synthesize 4 bar mechanism to be used to generate the required motion. It is found that the only input crank of the 4 bar mechanism should be limited to satisfy the condition. And the feasible design area for the circle point/ center point of the input crank is identified so that design of the undesired mechanism could be avoided. The method is tested and the results are shown.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 춘계학술대회 논문집
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• pp.401-406
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• 2011

The abnormal vibration from the BTV(Brake Torque Variation) and DTV(Disc Thickness Variation) is transferred to the suspension and steering system during braking. In this paper, judder simulation is carried out using multi-body dynamic analysis program to analyze the relation of the judder and transfer mechanism which is composed of the suspension and steering system. In order to analyze the brake judder transfer system, the full vehicle model was composed with rigid body, non-linear bushing, non-linear constraints and joints. Full vehicle model analysis was compared by actual vehicle judder test and sensitivity analysis of the suspension system is carried out.

• 대한기계학회논문집A
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• 제26권2호
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• pp.314-321
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• 2002

An endoscope is usually inserted into the human body for the inspection of the gullet, stomach, and large intestine (colon) and this may cause discomfort to patients and damage to tissues during diagnostic or therapeutic procedures. This situation necessitates a self-propelling endoscope. There are many kinds of mechanism to move in a rigid pipe. However, these methods are difficult to apply directly to the endoscope. The main reason is that human intestine cannot be considered as a uniform, straight, and rigid pipe. This paper proposes a flexible loop wheel mechanism, which is adaptable to the human intestine. This mechanism is designed and fabricated by a simple modeling, and tested by an experiment. Finally, the actuator is inserted into the pig colon.

• 에너지공학
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• 제24권3호
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• pp.128-134
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• 2015

본 연구는 연성체와 강체로 구성된 다물체 시스템을 분석한 것이다. 이송용 로봇은 주로 빠른 속도와 넓은 범위의 이동거리의 장점으로 무거운 부품으로 구성된 자동화산업에 사용된다. 주로 3축으로 구성되어 사용되는 이송용 로봇은 커다란 부하를 담당하기 위해 최근에 강도와 강성을 고려하여 개발되어진다. 따라서, 이러한 목적으로 과도모드가 적용된 동적해석을 수행하여 어느 시간과 위치에서 항복되는지 찾기 위해 수행되었다. 이러한 연구의 결과로 로봇의 응력과 변형량을 분석할 수 있었다.

• 한국산학기술학회논문지
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• 제17권6호
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• pp.750-758
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• 2016

일반적으로 시스템을 강성체로 설계할 경우 시스템의 구조적 안정성을 확보할 수 있으나 유리잔을 잡거나 작은 수술용 도구로 사용하는 등의 사용용도에 따라 활용성이 제한될 수 있다. 이러한 문제를 해결하기 위하여 유연한 재질을 사용하여 강성조절이 가능한 메커니즘에 대한 연구가 다양하게 이루어져 왔다. 기존에 연구했던 강성체와 연성체의 연속구조로 이루어진 모델에 텐던을 삽입한 구조를 이용한 가변강성 메커니즘을 통하여 가변강성 구조체에 대한 가능성을 확인하였다. 그러나 필요로 하는 가변강성을 충족하기 위한 구조체의 설계 변수에 대한 연구가 필요하였다. 따라서 본 연구에서는 가변강성 메커니즘의 다양한 변수 변화에 따른 강성변화 실험을 통해 강성의 경향성을 파악하고자 하였다. 실험 결과 지름이 클수록 강성은 증가하며 강성의 증가폭 또한 늘어난다. 또한 연성체 길이가 짧을수록 강성이 증가하며 텐던을 당겨 연성체를 압착할 경우 강성값은 비선형적으로 증가하였다. 동일 조건에서 연성체 길이변화에 따른 강성 증가폭과 강성체의 길이 변화에 따른 강성 증가폭을 비교하였을 때 연성체 길이 변화가 강성체 길이 변화 보다 강성값 변화에 영향을 미친다는 것을 확인하였다. 또한, 해석값이 실험값에 비하여 정확성은 낮지만, 가변강성의 경향성을 확인하기 위하여 해석적인 방법을 통한 강성을 예측해보았다. 이러한 변수변화 실험 결과는 필요로 하는 강성값을 충족하는 가변강성 메커니즘 설계에 활용할 수 있을 것이다.

• 대한인간공학회지
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• 제18권3호
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• pp.141-152
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• 1999

In this paper, We performed the human body dynamic modelling for the realistic animation based on the dynamical behavior of human body, and designed controller for the effective control of complicate human dynamic model. The human body was simplified as a rigid body which consists of 18 actuated degrees of freedom for the real time computation. Complex human kinematic mechanism was regarded as a composition of 6 serial kinematic chains : left arm, right arm, support leg, free leg, body, and head. Based on the this kinematic analysis, dynamic model of human body was determined using Newton-Euler formulation recursively. The balance controller was designed in order to control the nonlinear dynamics model of human body. The effectiveness of designed controller was examined by the graphical simulation of human walking motion. The simulation results were compared with the model base control results. And it was demonstrated that, the balance controller showed better performance in mimicking the dynamic motion of human walking.

• 대한기계학회논문집
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• 제17권8호
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• pp.1883-1897
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• 1993

Interactive computer-aided analysis of mechanical systems has recently been undergoing an evolution due to highly efficient computer graphics. The industrial implementation of state-of-the-art analytical developments in mechanisms has been facilitated by computer-aided design packages because these rigid-body mechanism analysis programs dramatically reduce the time required for linkage design. This paper proposes a component modular approach to computeraided kinematic motion analysis for general planar multiloop mechanisms. Most multiloop mechanisms can be decomposed into serveral components. The kinematic properties (position, velocity, and acceleration) of every node can then be determined from the kinematic analysis of the corresponding component modules by a closed-form solution procedure. In this paper, 8 types of modules are defined and formulations for kinematic analysis of the component modules are derived. Then a computer-aided kinematic analysis program is developed using the proposed approach and the solution procedure of an example shows the effectiveness and accuracy on the approach.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1997년도 추계학술대회 논문집
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• pp.304-309
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• 1997

Elastic elements, at first, were extensively used in suspensions as vibration isolators at joints. Nowadays they are used to improve stability and handling. The design of these elements has become a very important matter since the loading condition of the mechanism gives a mew suspension geometry without any modification. This paper presents an analysis of forces and moments of joints with elastic elements in the McPherson suspension mechanism to evaluate accurately the elastic deformation using the displacement matrix method in conjunction with the equilibrium equations. First the suspension is modeled as a multi-loop spatial rigid-body guidance mechanism which has elastic elements at the hardpoints of the suspension. Then a method and design euqations are developed to analyze the suspension characteristics by the various tire load. Also the displacement matrices and constraint equations for links are appllied to determine the sensitivity of the suspension mechanism. Finally this approach may conduct a realistic design of suspension mechanisms with elastic elements to improve the performance of the automobile under various driving conditions.

• 한국산업융합학회 논문집
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• 제26권6_1호
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• pp.993-999
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• 2023

In this paper, a novel polishing tool mechanism with 3-axis compliance is presented, which consists of 2-axis rotational and 1-axis linear compliances in series. The 2-axis rotational compliance mechanism is made up of four cantilever beams for adjusting rotational stiffness and one flexure universal joint at the center for constraining the z-axis deflection. The 2-axis rotational compliance can mechanically adjust the polishing tool to machined surfaces. The polishing press force can be simply controlled by using a linear spring along the z-axis. The 2-axis rotational and 1-axis linear compliance design is decoupled. The stiffness analysis of the 2-axis compliance mechanism was performed based on link compliance matrix and rigid body transformation. A 3-axis polishing tool was designed by configuring the 2-axis compliance mechanism and one linear spring.

• 대한의용생체공학회:의공학회지
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• 제20권4호
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• pp.485-493
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• 1999

Human can generate various posture and motion with nearly 350 muscle pairs. From the viewpoint of mechanisms, the human skeleton mechanism represents great kinematic and dynamical complexity. Physical and behavioral fidelity of human motion requires dynamically accurate modeling and controling. This paper describes a mathematical modeling, and dynamic simulation of human body. The human dynamic model is simplified as a rigid body consisting of 18 actuated degrees of freedom for the real time computation. Complex kinematic chain of human body is partitioned as 6 serial kinematic chains that is, left arm, right arm, support leg, free leg, body, and head. Modeling is developed based on Newton-Euler formulation. The validity of proposed dynamic model, which represents mathematically high order differential equation, is verified through the dynamic simulation.