• 한국정밀공학회지
• /
• 제13권4호
• /
• pp.97-108
• /
• 1996

Optimal design of fault-tolerant, spatial type redundant manipulators is treated in this paper. Design objective is to guarantte three degree-of -freedom translational motions in the task space, upon failure of one arbitrary joint of 4 degree-of-freedom manipulators. Noticing the nonfault-tolerant characteristics of current, wrist-type industrial manipulators, five different fault-tolerant spatial-type manipulators which have 4 degree-of-freedom structures with one joint redundancy are suggested. Faault-tolerant character-sitics of two redundant manipulators anr investigated based on the analysis of the self-motion and the null-space elements. Finally, in order to maximize the fault-tolerant capability, optimal design is performed for a spatial-type manipulator with respect to the global isotropic index, and the performance enhancement of the optimized case is shown by simulation.

• 한국안전학회지
• /
• 제32권3호
• /
• pp.60-65
• /
• 2017

This study examined the effect of rotational stiffness of joints between vertical and horizontal members in system supports. In order to prevent repeated disasters of system supports, it is important to examine the accurate behavior of system supports. Among various factors affecting the complex behavior of system supports, this study focused on the stiffness of joints between vertical and horizontal members. The considered joint was modelled by a rotational spring, but the translational displacements were fixed. The stiffness of rotational spring was calculated by utilizing the usable experimental data. In addition, the hinge connection condition, which is generally considered in design and only restrict the translational displacements, was modelled to compare the results. The case with the rotational stiffness in joints showed 3.5 times buckling loads compared to the case without the rotational stiffness. Thus, the structural behavior of the vertical member in system supports was similar to the vertical member with the fixed condition. For the combined stresses of vertical members, the combined stress ratios were reduced 5~6% by considering the rotational stiffness of connecting parts. However, for the horizontal member where showed relatively small stress range, the stresses were increased 2.3~7.6 times by considering the rotational stiffness in connecting parts.

• 제어로봇시스템학회논문지
• /
• 제6권2호
• /
• pp.190-196
• /
• 2000

A hybrid position/force control scheme to regulate the force and position by dual arms is proposed where two arms are treated as one rm in a kinematic viewpoint. The force error calculated from the information of two force/torque sensors attached to the end of each arm is transferred to minimum configuration space coordinates and then is distributed to total system joint coordinates, The position adjustment at the total con-figuration coordinates is computed based on the effective compliance matrix with respect to total joint coordinates which is obtained by coordinate transformation between the task coordinates and the total joint coordinates. The proposed scheme is applied to sawing task. When the trajectory of the saw is planned to follow a line in a horizontal plane 2 position parameters are to be controlled(i.e., two translational positions) Also a certain level of contact force has to be controlled along the vertical direction(i.e. minus z-direction) not to loose the contact with the object to be sawn. We experimentally show that the performance of the velocity and force response are satisfactory. The proposed hybrid control scheme can be applied to arbitrary two cooperating arm system regardless of their kinematic structure and the number of actuated joints.

• International Journal of Ocean System Engineering
• /
• 제1권4호
• /
• pp.222-229
• /
• 2011

In this paper, we present the concept and main mission of the Crabster, an underwater walking robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which comprise the main difference in dynamic characteristics between on-land and underwater robots. Drag and lift forces acting on the underwater link are described as a function of the relative velocity of the link with respect to the fluid using the strip theory. Using the translational velocity of the link as the rotational velocity of the joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has a roll joint and twist angles between the joints. To verify the proposed model, we conducted drag torque simulations using a simple Selective Compliant Articulated Robot Arm.

• Journal of the Korean Association of Oral and Maxillofacial Surgeons
• /
• 제41권2호
• /
• pp.102-108
• /
• 2015

In surgery for facial asymmetry, mandibles can be classified into two types, rotational and translational, according to the required mandibular movements for surgery. During surgery for rotational mandibular asymmetry, a bilateral sagittal split ramus osteotomy (BSSRO) may cause a large bone gap between the proximal and distal segments as well as condylar displacement, resulting in a relapse of the temporomandibular joint disorder, especially in severe cases. The intraoral vertical ramus osteotomy has an advantage, in this respect, because it causes less rotational displacement of the proximal segment on the deviated side and even displaced or rotated condylar segments may return to their original physiologic position. Unilateral intraoral vertical ramus osteotomy (UIVRO) on the short side combined with contralateral SSRO was devised as an alternative technique to resolve the spatial problems caused by conventional SSRO in cases of severe rotational asymmetry. A series of three cases were treated with the previously suggested protocol and the follow-up period was analyzed. In serial cases, UIVRO combined with contralateral SSRO may avoid mediolateral flaring of the bone segments and condylar dislocation, and result in improved condition of the temporomandibular joint. UIVRO combined with contralateral SSRO is expected to be a useful technique for the treatment of rotational mandibular asymmetry.

• 한국산업융합학회 논문집
• /
• 제22권3호
• /
• pp.337-351
• /
• 2019

We Proposed a new technology to develop vertical type multi-joint robot system enable to adapt in high temperature environment. The main contents is a new approach to design a vertical type articulated robot with prismatic joint and analysis of thermal for process automation of casting and forging. The proposed robot is suitable to use handling working parts of casting and forging. for the manufacturing process of forging and casting. The reliability is illustrated that the proposed technique is more stable and robust than the conventional system. This study is concerned with an analytical methodology of kinematic computation for 7 DOF manipulators for optimization of forging manufacturing process.

• Advances in biomechanics and applications
• /
• 제1권3호
• /
• pp.169-185
• /
• 2014

Computational multibody models of the elbow can provide a versatile tool to study joint mechanics, cartilage loading, ligament function and the effects of joint trauma and orthopaedic repair. An efficiently developed computational model can assist surgeons and other investigators in the design and evaluation of treatments for elbow injuries, and contribute to improvements in patient care. The purpose of this study was to develop an anatomically correct elbow joint model and validate the model against experimental data. The elbow model was constrained by multiple bundles of non-linear ligaments, three-dimensional deformable contacts between articulating geometries, and applied external loads. The developed anatomical computational models of the joint can then be incorporated into neuro-musculoskeletal models within a multibody framework. In the approach presented here, volume images of two cadaver elbows were generated by computed tomography (CT) and one elbow by magnetic resonance imaging (MRI) to construct the three-dimensional bone geometries for the model. The ligaments and triceps tendon were represented with non-linear spring-damper elements as a function of stiffness, ligament length and ligament zero-load length. Articular cartilage was represented as uniform thickness solids that allowed prediction of compliant contact forces. As a final step, the subject specific model was validated by comparing predicted kinematics and triceps tendon forces to experimentally obtained data of the identically loaded cadaver elbow. The maximum root mean square (RMS) error between the predicted and measured kinematics during the complete testing cycle was 4.9 mm medial-lateral translational of the radius relative to the humerus (for Specimen 2 in this study) and 5.30 internal-external rotation of the radius relative to the humerus (for Specimen 3 in this study). The maximum RMS error for triceps tendon force was 7.6 N (for Specimen 3).

• Journal of Oral Medicine and Pain
• /
• 제20권1호
• /
• pp.141-158
• /
• 1995

This study was performed to invetigate the relationship between clinical manifestations related to temporomandibular joint sounds and temporomandibular joint vibrations that occurred synchronously with sounds. There have been reported in many articles that joint sounds indicate internal joint pathology. Therefore, it is necessary to evaluate type and patterns of joint sounds, and radiographic changes of temporomandibular joint(TMJ) in order to diagnose and deal with the Temporomandibular Disorders(TMD). For this study 142 patients with TMDs were collected and they were examined by routine diagnostic procedure for TMDs. The author classified TMJ sounds clinically into 3 types : click, popping, and crepitus. Transcranial and panoramic radiographs were taken for observein bony changes of TMJ, and for observing vibrations of TMJ Sonopak of Biopak system was used. The obtained results were as follows : 1. Female subjects with crepitus were older than those with click or popping and their mean ages were about 45 years old. But in male subjects, there was no age difference. 2. For all subjects, mean value of maximal mouth opening were above 40mm, which are lower limit of normal vertical opening. But in subjects with L-type opening deviation, mouth opening capacity were about 36mm of range. 3. Symptom duration stated when patient presented first were slightly longer in subjects with crepitus but there were no statistical differences. And there were also no radiographic differences among 3 types of joint sounds in regard to symptom duration. 4. In subjects wih click, it might have been interpreted that 12% had closed lock, 12% had degenerative joint disease, and about 17% of he subjects had normal joints by Sonopak. 5. There were no significant relationships between subjective loudness of joint sounds and magnitude of joint vibrations. 6. The highest value of Integral and peak amplitude were observed in popping sounds and though it was not significant, value of peak frequency was highest in crepitus. 7. Amount of mandibular positional change were differed between click and crepitus on frontal plane, between click, crepitus and popping on horizontal plane in rotational movement, respectively. However, there no difference among them in translational movements.

• Ocean and Polar Research
• /
• 제39권3호
• /
• pp.205-211
• /
• 2017

This paper seeks to provide a dynamic analysis of a 150 ton winch based on ocean environmental data. The winch model that was subjected to analysis was modeled from CAD to each subsystem by the commercial software DAFUL. The winch model has tree brake systems (disk brake, band brake and ratchet brake). The rotation motion of the motor and contact elements of the brake are applied to the winch model in order to analyze its dynamic characteristics. In addition, a crane-barge was modeled to apply ocean environmental data. The motion data of the crane-barge was produced by means of the RAO(Response Amplitude Operator) of the barge and wave spectrum. The reaction force of the translational joint was measured instead of the tension of the cable. The brake performance of the winch was produced and assessed based on the operating motion of the crane-barge.

• Journal of Mechanical Science and Technology
• /
• 제19권10호
• /
• pp.1919-1931
• /
• 2005

Human joint motion can be kinematically described in three planes, typically the frontal, sagittal, and transverse, and related to experimentally measured data. The selection of reference systems is a prerequisite for accurate kinematic analysis and resulting development of the equations of motion. Moreover, the development of analysis techniques for the minimization of errors, due to skin movement or body deformation, during experiments involving human locomotion is a critically important step, without which accurate results in this type of experiment are an impossibility. The traditional kinematic analysis method is the Angular-based method (ABM), which utilizes the Euler angle or the Bryant angle. However, this analysis method tends to increase cumulative errors due to skin movement. Therefore, the objective of this study was to propose a new kinematic analysis method, Position-based method (PBM), which directly applies position displacement data to represent locomotion. The PBM presented here was designed to minimize cumulative errors via considerations of angle changes and translational motion between markers occurring due to skin movements. In order to verify the efficacy and accuracy of the developed PBM, the mean value of joint dislocation at the knee during one gait cycle and the pattern of three dimensional translation motion of the tibiofemoral joint at the knee, in both flexion and extension, were accessed via ABM and via new method, PBM, with a Local Reference system (LRS) and Segmental Reference system (SRS), and then the data were compared between the two techniques. Our results indicate that the proposed PBM resulted in improved accuracy in terms of motion analysis, as compared to ABM, with the LRS and SRS.