• 로봇학회논문지
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• 제14권3호
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• pp.203-210
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• 2019

This paper proposes a hand-controller mechanism for manually controlled endoscopic surgical instruments. A wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. The wire-driven mechanism requires length control of wires that are pulled and released according to the desired joint angle. It is difficult for the operator to control individual wire lengths intuitively. The hand-controller mechanism should be able to control the wires easily without complex processes. For this purpose, we propose a mechanism that can control the wire lengths with a simple mechanical structure and its optimal design method using genetic algorithm. We show the simulation and experimental results to confirm the proposed mechanism and design methods are useful for the manually controlled endoscopic surgical instrument.

• 로봇학회논문지
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• 제16권2호
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• pp.164-171
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• 2021

This paper proposes a continuum mechanism for manually controlled endoscopic surgical instruments. The wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. However, the conventional wire-driven mechanism has inherent problems caused by redundancy, such as deflection and low precision. It does not have operating force and manipulability for surgery. Therefore, a method to increase the force of the continuum mechanism using a multi-wire with simple mechanical structure is proposed. Moreover, for intuitive operation, a hand-controller mechanism that can manipulate the length of the wire without complex process is proposed. Finally, we show that the proposed mechanism and methods are applicable to endoscopic surgical tools through simple experiments.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.295-296
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• 2006

We developed wire frame drive unit based on SMA for the 3D Shape display. Our basic concept is wire frame combination connected with a chain form which can create various shapes and it compared with pin array mechanism which is not able to display mushroom shape. It imitates antagonist mechanism of human musculoskeletal system. we create similar motion using repair-relaxation mechanism and locking mechanism by SMA. Therefore, in this paper, we propose SMA control solution for actuating repair-relaxation mechanism and locking mechanism. In our control system. we use optical sensor and quantitative angle between wire frames for closed loop control. And we supply amplified current for SMA by circuit composed of transistor and apply PWM signal to circuit for efficient control. So, wire frame drive unit enable diversity angle control based on sensor data. And then combination of wire frame drive units will create various objects.

• 제어로봇시스템학회논문지
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• 제22권9호
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• pp.733-737
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• 2016

In this paper, we propose a mechanism that can compensate for gravity in a robot manipulator. Industry robots generate torque due to carrying heavy weight. For this reason, the robots need high specification motors, which increases the prices of the robots and their production costs. In order to resolve these problems, a mechanism for gravity compensation has been developed using a spring and wire system. But this system has problems related to wire stretching. A winding mechanism is therefore used to supplement this drawback of the wire. The robot used was developed by the 1-DOF system. Analysis was performed for the performance of the mechanism. Experiments were conducted to compare simulation results and experimental results.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집D
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• pp.232-239
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• 2001

The present study is an experimental investigation of nucleate boiling heat transfer mechanism in pool boiling from wire heaters immersed in saturated FC-72 coolant and water. The vapor volume flow rate departing from a wire during nucleate boiling was determined by measuring the volume of bubbles, varying $25{\mu}m,\;75{\mu}m,\;and\;390{\mu}m$, from a wire utilizing the consecutive-photo method. The effects of the wire size on heat transfer mechanism during a nucleate boiling were investigated by measuring vapor volume flow rate and the frequency of bubbles departing from a wire immersed in saturated FC-72. One wire diameter of $390{\mu}m$ was selected and tested in saturated water to investigate the fluid effect on the nucleate boiling heat transfer mechanism. Results of the study showed that an increase in nucleate boiling heat transfer coefficients with reductions in wire diameter was related to the decreased latent heat contribution. The latent heat contribution of boiling heat transfer for the water test was found to be higher than that of FC-72. The frequency of departing bubbles was correlated as a function of bubble diameters.

• 한국소음진동공학회논문집
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• 제23권5호
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• pp.401-406
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• 2013

Non-explosive shockless holding and release mechanism for a nano class small satellite application has been proposed and investigated. The great advantages of the mechanism are a much lower shock level and larger constraint force than the conventional mechanism using pyro and the heating wire cutting mechanism which has been generally applied to the cube satellite program. To investigate the effectiveness of the mechanism design, EM mechanism was developed and tested to verify the basic function of the mechanism. The test results indicate that the proposed mechanism is well functioning as the mechanism design intends.

• 한국정밀공학회지
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• 제14권5호
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• pp.134-142
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• 1997

In this study, we proposed the wire parallel mechanism that can be used to measure a full pose of a robot. It is composed of six parallel links using wire. The position and orientation of the end effectorf of a robot are calculated using the length of wires which is measured by the encoder. The complex non- linear equations of the forward kinematics are solved by using a numerical method, and the unique solution is obtained from the geometric configuration of the device. The length error of the wire which occurs in static condition is compensated by the relational equation that considered longitudinal extension and defoection of the wire. Through this work, we known that the proposed device has a good accuracy( .+-. 0.01mm) in a large measuring region, so it can be used effectively in a callibration of a robot which required a low cost.

• 대한기계학회논문집A
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• 제21권12호
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• pp.2146-2155
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• 1997

This paper presents the Wire Parallel Mechanism for robot pose measurement which can be used to robot calibration. It is constructed with six parallel links using wire. The position and orientation of the end effector of a robot are calculated from the wire length that measured by the encoder. The unique solution is obtained from a Newton-Raphson method and geometric configuration of the mechanism, also the method to estimate a measuring space is presented. Through the simulations, it is verified that the proposed mechanism can measure a robot pose, and has a large measuring space. In conclusion, it can be used effectively in a robot pose measurement with little cost and effort.

• International Journal of Aeronautical and Space Sciences
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• 제16권4호
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• pp.602-613
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• 2015

As one of the mission payloads to be verified through the cube satellite mission of Cube Laboratory for Space Technology Experimental Project (STEP Cube Lab), we developed a hinge driving separation nut-type holding and releasing mechanism. The mechanism offers advantages, such as a large holding capacity and negligible induced shock, although its activation principle is based on a nylon cable cutting mechanism triggered by a nichrome burn wire generally used for cube satellite applications for the purpose of holding and releasing onboard appendages owing to its simplicity and low cost. The basic characteristics of the mechanism have been measured through a release function test, static load test under qualification temperature limits, and shock measurement test. In addition, the structural safety and operational functionality of the mechanism module under launch and on-orbit environments have been successfully demonstrated through a vibration test and thermal vacuum test.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1144-1149
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• 2009

This paper deals with the time synchronization problem over SpaceWire links. SpaceWire is a standard for high-speed links and networks between spacecraft components, which was invented for better, cheaper, faster on-board data handling in spacecraft. The standard defines Time-Code for time distribution over SpaceWire network. When a Time-Code is transmitted, transmission delay and jitter is unavoidable. In this paper, a mechanism to remove Time-Code transmission delay and jitter over SpaceWire links is proposed and implemented with FPGA for validation. The proposed mechanism achieves high resolution clock synchronization over SpaceWire links, complies with the standard and can be easily adopted over SpaceWire network.