• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.7
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• pp.56-62
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• 2018

The bus bar is an electrical connection widely used for the power supply of skyscrapers and power distribution and industrial equipment electrical panels in industrial plants. There are various materials to be considered in the design of the bus bar, such as material based on the use environment, the sectional area according to the power capacity, the length of the surface circumference, and the tightening method. Even with a bus bar manufactured to a size of sufficient power capacity in the design, if the actual tightening is incorrect, it may lead to fire due to deterioration. For these reasons, a variety of research on the temperature rise of the electrical contact point has continued. However, the temperature rise of the contacts is a consequence of the result, not a direct cause. In this paper, the influence of contact resistance on the fastening force and the overlapping section of the bus bar are investigated by measuring the change in resistance from building the specimen. A total of eight bus bar specimens were manufactured and measured. Resistance was measured by varying the clamping force and the interval between overlapping sections when the specimens were crossed. We propose a safe power connection model by analyzing the contribution of these factors to the actual contact resistance change.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.9
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• pp.961-968
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• 2013

In this paper, we propose an optimal design for starfish capturing manipulator module with four-bar linkage mechanism. A tool link with compliance is attached on the four-bar linkage, and the tool repeats detaching starfish from the ground and putting it into the storage box. Since the tool is not rigid and the manipulator is operating underwater, the trajectory of the tool tip is determined by its dynamics as well as kinematics. We analyzed the trajectory of the manipulator tool tip by quasi-static analysis considering both kinematics and dynamics. In optimization, the lengths of each link and the tool stiffness are considered as control variables. To maximize the capturing ability, capturing stroke of the four-bar manipulator trajectory is maximized. Reaction force and reaction moment, and other kinematic constraints were considered as inequality constraints.

• Aerospace Engineering and Technology
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• v.12 no.2
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• pp.108-117
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• 2013

The oxidizer shutoff valve of a gas generator controls the mass flow rate of the propellant of a rocket engine using pilot pressure and spring the force of the valve. The developing oxidizer shutoff valve can be shut off if the pilot pressure is removed from the actuator. Therefore, force balancing is necessary to analyze the characteristics of the forces with respect to the opening and closing of the valve in order to evaluate its performance. In light of this, the valve has been designed to adjust the control pressure required to open the poppet and to determine the working fluid pressure at which the valve starts to close. Under cryogenic flow test as a tests level of C.R.T(Control Random Test), the chattering phenomena occurred due to much leakage of a metal seat section. The pressure for chattering of the oxidizer valve is predicted at about 11 bar using force balancing analysis.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.12
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• pp.1585-1591
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• 2011

In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger. The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-coupling mechanism. In addition, the transmission ratio of the finger module is maintained at 1:1.4:1 over the entire movement range, and hence, the module can perform both extension and flexion. In addition, to enable adduction/abduction motion of the human hand, a unique MCP joint is designed by using two universal joints. To validate the feasibility of the data glove, master-slave control experiments based on force-position control between the data glove and the robot hand are conducted.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.814-823
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• 2011

Nowadays many neurological diseases such as stroke and Parkinson diseases are continually increasing. Orthotic devices as well as exoskeletons have been widely developed for supporting movement assistance and therapy of patients. Robotic knee orthosis can compensate stiff-knee gait of the paralyzed limb and can provide patients consistent assistance at wearable environments. With keeping a robotic orthosis wearable, however, it is not easy to develop a compact and safe actuator with fast rotation and high torque for consistent supports of patients during walking. In this paper, we propose a novel kinematic model for a robotic knee orthosis to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The suggested kinematic model is composed of a hamstring device with a slide-crank mechanism, a quadriceps device with five-bar/six-bar links, and a patella device for knee covering. The quadriceps device operates in five-bar links with 2-dof motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The kinematics and velocity/force relations are analyzed for the quadriceps and hamstring devices. Finally, the adequate actuators for the suggested kinematic model are designed based on normal gait requirements. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking.

• Journal of Ocean Engineering and Technology
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• v.21 no.1 s.74
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• pp.75-80
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• 2007

Measuring the ground speed and the rotation speeds of tracks is an easy and realistic method to detect the track slips. It is very advantageous if the slips can be measured and applied to real time control of the vehicle. With a proper speed, the tractive force of a tracked vehicle may be calculated from the vehicle dynamics. For the control of tracked vehicle, the relationship between the slip and the tractive force is necessary. In this paper, a series of drawbar-pull tests, in which slips of two tracks are measured under the variational draw-bar weight, is executed to directly obtain the slip-tractive force relationship. For the purpose of the test, a tractive vehicle model was manufactured, and an artificial soil was simulated by using a bentonite-water mixture.

• 연구논문집
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• s.34
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• pp.87-99
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• 2004

A spring tension control device is used as a very important part of an twister system. The friction force of tensioner must keep same friction force during winding in package. For satisfy this function, many device used common compression coil spring. In this paper, by using the case-building technique which was based on simple theory that unknown design variables are induced by given input design variables by the designer, design automation algorithm about rectangular section compression springs with elastic characteristic is developed. Four design equation are justified in using of analysis of torsion of straight bar of rectangular section and geometrical condition of coil spring. Four design equation and nine design variables are computed by case-building technique.

• Journal of the Korean Ceramic Society
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• v.40 no.10
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• pp.981-984
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• 2003

A novel linear ultrasonic motor for precision position control was designed and fabricated. It was composed of two piezoelectric actuators with longitudinal ultrasonic fluctuations and shaking beam. When two AC electric fields (Usinwt, Ucoswt) were applied to piezoelectric actuators respectively, the middle part of shaking beam had an elliptical trajectory. According to experimental results, the generative force was proportional to pre-load force but the speed of slider was in inverse proportion. And the bar of shaking beam had a same trajectory with simulation result.

• Journal of the Korean Wood Science and Technology
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• v.36 no.6
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• pp.77-87
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• 2008

Wooden model erosion control dam was made with pitch pine, of which the strength properties was evaluated. Wooden model erosion control dam was made with diameter 90 mm of pitch pine round posts treated with CUAZ-2 (Copper Azole), changing joint in three different types. In each type, erosion control dam was made in nine floor (cross-bar of five floors and vertical-bar of four floors), of which the hight was 790 mm. And then strength properties were investigated through horizontal loading test and impact strength test, and the deformation of structure through image processing (AICON 3D DPA-PRO system). In horizontal loading test of wooden model erosion control dam using round post of diameter 90 mm, whether there was stone or not did not affect strength much when using self drill screw, but strength was decreased by 23%. In monolithic type of erosion control dam using screw bar, strength was increased by 1.5 times and deformation was decreased when filling with stone. When reinforcing with screw bar that ring is connected to self drill screw, strength was increased by 4.8 times. In impact strength test of wooden model erosion control dam made with round post of diameter 90 mm, the erosion control dam connected with self drilling screw not filling with stone was totally destroyed by the 1st impact, and the erosion control dam using screw bar was ruptured at cross-bar at which 779 kgf of impact was loaded in the 1st impact. In the 2nd impact, the base parts were ruptured, and reaction force was decreased to 545 kgf. In the 3rd impact, whole base parts were destroyed, and reaction force was decreased to 263 kgf.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.343-343
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• 2000

The conventional actuators with the speed reducer had weakness in supporting the weight of the body and leg itself. To overcome this, a new four bar link mechanism actuated by the ball screw was proposed. Using this, we developed a new type of 10 D.O.F biped robot. The dynamics model of the biped robot is investigated in this paper. In the modeling process, the robot dynamics are expressed in the joint coordinates using the Euler-Lagrange equation. Then, they are converted in to the sliding joint coordinates, and joint torques are expressed in the force along the sliding direction of the ball screw. To test modeling of the robot, a computer simulation was performed.