• Journal of the Korean Society of Safety
• /
• v.8 no.1
• /
• pp.64-70
• /
• 1993

Serious injuries and deaths due to multi-jointed robot occur when a man mispercepts. especially during robot teaching and maintenance work. Since industrial robots often operate with unpredictable motion patterns, establishment of safe speed limit of robot arm is indispensable. An experimental emergency conditions were simulated with a multi-jointed robot. and response characteristics of human operators were measured. The result showed that failure type, robot arm axis. and robot arm speed had significant effects on human reaction time. The reaction time was slightly increased with robot arm speed. though it showed somewhat different pattern owing to failure type. Furthermore the reaction time to the axis which could flex or extend. acting on a workpiece directly. was fastest and its standard deviation was small. The robot arm speed limit securing a‘possible contact zone’based on overrun distance was about 25cm/sec. and in this sense the validity of safe speed limits suggested by many precedent researchers were discussed.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2009.11a
• /
• pp.282-285
• /
• 2009

Ignition Safe-Arm-Unit using micro-electromechanical systems(MEMS) for propulsion system was designed and manufactured. MEMS was designed according to the design schemes for conventional mechanical elements. By comparing the design results and the test data of the prototype, small discrepancy was found, which is due to the nonlinear characteristic of the structure and the machining accuracy. The applicability of MEMS for Safe-Arm-Unit was proved by testing MEMS which is assembled into SAU.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2010-2015
• /
• 2003

In this paper, a design and control of the safe arm with passive compliant joints(PCJ) is presented. Each PCJ has a magneto- rheological damper and maximum 6 springs. Compliance analysis in Cartesian space is performed with the compliance ellipsoid; this analysis shows a map between compliance in the joint space and compliance in Cartesian space. Vibration control of the arm using an input shaping technique is also presented; the results of a simulation and an experiment prove that a fast motion of the safe arm without residual vibration can be performed.

• Proceedings of the KSME Conference
• /
• 2001.06b
• /
• pp.283-288
• /
• 2001

This study provides analytical evaluation of the Dual-Ann Work Module. The current hydraulic system was modeled using the HyPneu and analyzed to find the cause of the instability. The cause of the instability was determined to be primarily an interacting involving the pilot operated check valves and the counterbalance valves for fail safe mode of operation. A new design concept was developed to eliminate the potential for unstable operation while adequately meeting the need for a fail-safe feature.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
• /
• v.10 no.2
• /
• pp.87-96
• /
• 2012

With a view to determine a safe speed the limit of a manipulator arm, several experiments was performed with a multi-jointed manipulator in maintenance and decommissioning tasks of nuclear facilities. Under the simulated emergency conditions, which were generated with random combinations of manipulator arm speed, failure probability and failure type, response characteristics of human operators to various malfunctions of a manipulator arm were measured in terms of reaction time, number of false alarm, and number of misses. This paper demonstrated that failure type, manipulator axes and manipulator arm speed has significant effects on human reaction time. As a whole the reaction time was slightly increased with manipulator arm speed, which is showed somewhat different pattern due to failure type. The reaction time to an axis acting on a workpiece directly, which could flex and extend, was fastest and much more its standard deviation was small. Various factors which may affect safe speed were also described.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.10a
• /
• pp.180-185
• /
• 2004

Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.

• Journal of Mechanical Science and Technology
• /
• v.19 no.10
• /
• pp.1835-1845
• /
• 2005

In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magneto-rheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2010.11a
• /
• pp.126-129
• /
• 2010

MEMS(micro electro-mechanical systems) inertial switch which is applicable to the ignition Safe-Arm- Unit of propulsion system is devised. The MEMS inertial switch is designed according to the general design procedure for conventional mechanical elements. Unlikely conventional MEMS accelerometer, threshold inertial switching mechanism is adopted which makes a MEMS element an abrupt switching in a certain acceleration level. By comparing the design data and test results of the specimen a small discrepancy in switching acceleration level is found which is presumably due to the nonlinear characteristics of the beam spring and the flexure hinge which are the main parts of the MEMS inertial switch.

• Journal of Advanced Marine Engineering and Technology
• /
• v.30 no.5
• /
• pp.562-571
• /
• 2006

Finite element analysis is performed to evaluate structural reliability of an automotive pedal arm under conditions of the stiffness, the load and the endurance test specifications. Results of the analysis shows that the pedal arm is safe enough under the tests. A topology optimization is numerically implemented, overall shape of the pedal arm being verified to be reasonable, A design concept to insert holes in the arm is established, which may be used to reduce its weight.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.19 no.6
• /
• pp.88-95
• /
• 2020

In this paper, we propose a new arm swing walking pattern-based walking safety system for safe walking of elderly pedestrians. The proposed system is a walking safety system for elderly pedestrians using haptic-based devices such as smart bands and smart watches, and arm swing-based walking patterns to solve the problem that it is difficult to recognize the fall situation of pedestrians with the existing walking patterns of lower limb movements. Use. The arm swing-based walking pattern recognizes the number of steps and the fall situation of pedestrians through the swing of the arm using the acceleration sensor of the device, and creates a database of the location of the fall situation to warn elderly pedestrians when walking near the expected fall location. It delivers a message to provide pedestrian safety to the elderly. This system is expected to improve the safe walking rights and environment of the elderly.