• Journal of Biosystems Engineering
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• v.19 no.3
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• pp.163-174
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• 1994

This study was conducted to investigate the dynamic motion of knife drive system of combine harvester. A computer program was developed to simulate the dynamic motion of the knife drive linkage and its algorithm was evaluated through experiments. The results are summarized as follows : 1. The theorectical horizontal (the direction of knife's reciprocating motion) reaction forces at the supporting point of rocker arm and crank arm were changed in the similar sinusoidal trends with the measured reaction forces. 2. The maximum values of shaking moment and reaction force per one revolution of crank arm followed polynomial trends as the rotational speed of crank shaft increased. The unbalanced force acting on the driving system increased at high speed. Therefore, the rotational speed of crank shaft should be maintained in proper range at increased forward speed to decrease vibration of the knife drive system. 3. The added mass to the crank arm increased the dynamic unbalanced force at the supporting point of rocker arm. It counterbalanced the reaction force at the supporting point of crank arm.

• Journal of Biosystems Engineering
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• v.43 no.3
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• pp.194-201
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• 2018

Purpose: The objective of this study was to propose a formula for the theoretical grain mean transport velocities of an elliptically moving oscillator by modifying the grain mean transport velocity formula applied to linear motion and to compare the calculated values with the experimental values of grain mean transport velocity. Methods: The values of the throwing index ($K_v$) and the maximum horizontal velocities for various positions on the elliptical oscillator were obtained using kinematic analysis. To obtain the actual grain transport velocity, the mean transport velocities of perilla grains at six positions on the sieve surface were measured using a high-speed camera and compared with the theoretical values. The cam with an eccentric bearing on the oscillator was designed to be eccentric by 1.6 cm so that the lengths of the major axis of the elliptical motion were 3.2-3.6 cm. The material used in the experiments was perilla grain. Results: The experimental result was consistent with the theoretical value calculated using the proposed formula ($R^2$ is 0.80). It is considered that the angle difference between the maximum accelerations in the directions vertical and horizontal to the sieve has as much influence on the grain mean transport velocity as the value of Kv itself. Conclusions: It was possible to theoretically obtain the grain mean transport velocities through a screening device in elliptical motion by modifying the formula of the grain mean transport velocities used in linear motion.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.53-58
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• 2016

Various jumping robot platforms have been developed to carry out missions such as rescues, explorations, or inspections of dangerous environments. We suggested a jumping robot platform using energy conversion of the elastic body like the bar of a pole vault, which is the main part in which elastic force occurs. The compliant link was optimized by an optimization method based on Taguchi methodology, and the robot's leaping ability was improved. Among the parameters, the length, width, and thickness of the link were selected as design variables first while the others were fixed. The level of the design variables was settled, and an orthogonal array about its combination was made. In the experiment, dynamic simulations were conducted using the DAFUL program, and response table and sensitivity analyses were performed. We found optimized values through a level average analysis and sensitivity analysis. As a result, the maximum leaping height of the optimized robot increased by more than 6.2% compared to the initial one, and these data will be used to design a new robot.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.484-492
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• 2022

This paper presents a simple and robust under-actuated robotic finger mechanism that enables self-adaptive grip, fingertip pinch, and caging grasp functions. In order to perform daily activities using hands, the fingers should be able to perform adaptive gripping and pinching motion, and the caging grasp function is required to realize natural gripping motions and improve grip reliability. However, general commercial prosthetic hands cannot implement all three functions because they use under-actuation mechanism and simple mechanical structure to achieve light-weight and high robustness characteristic. In this paper, new mechanism is proposed that maintains structural simplicity and implements all the three finger functions with simple one degree-of-freedom control through a combination of a four-bar linkage mechanism and a wire-driven mechanism. The basic structure and operating principle of the proposed finger mechanism were explained, and simulation and experiments using the prototype were conducted to verify the gripping performance of the proposed finger mechanism.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2007.11a
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• pp.311-314
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• 2007

Aerodynamic characteristics of an insect-type flapping wings were carried out to obtain the design parameters of Micro Hovering Air Vehicle. A pair of wing model was scaled up about 200 times and applied two pairs of 4-bar linkage mechanism to mimic the wing motion of a fruit fly(Drosophila). To verify the Weis-Fogh mechanism, a pair of wings revolved on the 'Delayed Rotation'. Lift and drag were measured in conditions of the Reynolds number based on wing tip velocity of about 1,200 and the maximum angle of attack of 40$40^{\circ}$. Inertia forces of a wing model were also measured by using a 99.98% vacuum chamber and subtracted on measured data in air. In the present study, high lift effect of Weis-Fogh mechanism was appeared in the middle of upstroke motion.

• Structural Engineering and Mechanics
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• v.65 no.3
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• pp.291-302
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• 2018

Rigid body spring method (RBSM) is an effective tool to simulate the cracking process of structures, and has been successfully applied to investigate the behavior of reinforced concrete (RC) members. However, the theoretical researches and engineering applications of this method mainly focus on two-dimensional problems as yet, which greatly limits its applications in actual engineering projects. In this study, a three-dimensional (3-D) RBSM for RC structures is proposed. In the proposed model, concrete, reinforcing steels, and their interfaces are represented as discrete entities. Concrete is partitioned into a collection of rigid blocks and a uniform distribution of normal and tangential springs is defined along their boundaries to reflect its material properties. Reinforcement is modeled as a series of bar elements which can be freely positioned in the structural domain and irrespective of the mesh geometry of concrete. The bond-slip characteristics between reinforcing steel and concrete are also considered by introducing special linkage elements. The applicability and effectiveness of the proposed method is firstly confirmed by an elastic T-shape beam, and then it is applied to analyze the failure processes of a Z-type component under direct shear loading and a RC beam under two-point loading.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.136-142
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• 2013

In nature, many small insects are using jumping as a survival strategy. Among them, fleas jump in a unique method. They use an elastomer, 'Resilin', an extensor muscle and a trigger muscle. By contracting the extensor muscle, the elastic energy, that makes a flea to jump, is stored in the resilin. After storing energy, the trigger muscle begins contracting and pulling the extensor muscle. When the extensor muscle crosses the rotational joint, direction of torque generated from the extensor muscle reverses, 'torque reversal mechanism'. Simultaneously, the elastic energy stored in the resilin releases rapidly and is converted into the kinetic energy. It makes a flea to jump 150 times its body length. In this paper, miniaturized jumping robot using flea-inspired catapult mechanism is presented. This mechanism is based on the 4-bar linkage and the reversal joint and is actuated by Shape Memory Alloy (SMA) coiled springs describing the flea's muscle. The robot prototype is fabricated by SCM process using glass fiber prepregs and a sheet of polyimide film. The prototype is 20mm link length, 34mm width and 2.0g weight and can jump 103cm.

• Journal of Biosystems Engineering
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• v.39 no.1
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• pp.1-10
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• 2014

Purpose: This research was conducted to evaluate feasibility of a crank-type walking cultivators for weeding in furrowed upland. Methods: A walking cultivator developed by RDA was selected and evaluated with its working speed (S), cultivation depth (CD) and weeding performance (WP). The evaluation was performed in upland field on July and August, 2012. Also kinematic analysis of the machine was performed to draw out design improvements. Results: S in flat, uphill and downhill were about 0.11 m $s^{-1}$, 0.11 m $s^{-1}$, and 0.13 m $s^{-1}$ respectively. It was found that S had a low relevance with user conditions. The CD was 35 ~ 40 mm which was satisfied with the RDA guide for weeding machine. A wide variation was observed in values of WP depending on the growth stages of weeds and field conditions. The cultivator showed low performance in eliminating the well-grown weeds. Kinematic simulation revealed that high forward speed caused a high ratio of un-weeded area. Conclusions: The weeding performance of the cultivator was satisfactory for weeds in early growth stage but it showed difficulties in handling on up-slope and in entering up-land. Specifically, the weight of the cultivator was judged as overweight for female workers. The crank-hoe type cultivator was judged as unsuitable for small walking type machine due to weight of the four-bar linkage system. Kinematic analysis revealed that the ratio of crank speed to the ground speed must be 850 rpm s $m^{-1}$ (255 rpm based on 0.3 m $s^{-1}$) or greater to avoid uncultivated area. Selection of forward speed is a decisive factor in designing the weeding cultivator.

• Bulletin of the Korean Chemical Society
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• v.29 no.4
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• pp.805-810
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• 2008

Using metallic Ti powder as raw materials and 1,2-diaminocyclohexane (DACH) as the trial template, two novel reduced titanophosphate open-structures were hydrothermally isolated by varying the $H_3PO_4/H_2O$ ratio to adjust the pH value. TiPO-1 crystallizes in orthorhombic Pbca space group with cell parameters a = 21.956(3) $\AA$, b = 8.6268(11) $\AA$, c = 7.2883(9) $\AA$, V = 1380.5(3) $\AA^3$, Z = 4. TiPO-2 crystallizes in triclinic space group P$\bar{1}$ with parameters a = 5.1620(10) $\AA$, b = 8.815(2) $\AA$, c = 10.655(3) $\AA$, $\alpha$ = $99.45^{\circ}$, $\beta$ = $102.94^{\circ}$, $\gamma$ = $91.06^{\circ}$, V = 465.34 $\AA^3$. TiPO-1 is constructed by infinite -Ti-O-Ti-O- linkage that is capped by $PO_4$ groups to form a chain structure with protonated DACH molecules occupying the interchain spaces. TiPO-2 represents a rare 3-D reduced titanophosphate with 12-MR channels. The structure of TiPO-2 is a neutral framework with water molecules located in the channels.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2006.05a
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• pp.211-217
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• 2006

The learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this specific task. In a previous work, the authors presented an iterative precision of linear decentralized learning control based on p-integrated learning method for the vertical dynamic multiple systems. This paper develops an indirect decentralized learning control based on adaptive control method. The original motivation of the teaming control field was teaming in robots doing repetitive tasks such as on an assembly line. This paper starts with decentralized discrete time systems, and progresses to the robot application, modeling the robot as a time varying linear system in the neighborhood of the nominal trajectory, and using the usual robot controllers that are decentralized, treating each link as if it is independent of any coupling with other links. Error wave propagation method will show up in the numerical simulation for five-bar linkage as a vertical dynamic robot. The methods of learning system are shown up for the iterative precision of each link at each time step in repetition domain. Those can be helped to apply to the vertical multiple dynamic systems for precision quality assurance in the industrial robots and medical equipments.