• 제목/요약/키워드: master mechanism

검색결과 117건 처리시간 0.021초

마스트 캠에 의한 컨쥬게이트 캠의 설계 및 가공에 관한 연구 (A Study on Design and Machining of Conjugate Cam on the Basis of Master Cam)

  • 조현덕
    • 한국기계가공학회지
    • /
    • 제2권2호
    • /
    • pp.52-59
    • /
    • 2003
  • Cam mechanism is a machine part frequently used in machinery. Specially, conjugate cam mechanism is very suitable for the high speed working and the heavy power translation. Then a conjugate cam mechanism need high precision for the relations between cam profiles and follower rollers. So, its design and manufacturing are very difficult. Thus, this study is a branch of exclusive CAM systems for design and NC machining of conjugate earn mechanism based on a master plate earn profile in order to exchange an old plate cam mechanism to a new conjugate earn mechanism. For the design of the other cam profile by using a master cam profile, some calculation processes were used by vector summation methods, from master cam profile data to the center data of master follower, from the center data of master follower to the center data of the other follower considered in link mechanism, and offsetting in the center direction of base circle of the other cam from the center data of the other follower. Finally, a sample conjugate cam was selected and machined m order to prove the contents of this study.

  • PDF

사람팔의 운동을 추정하는 7자유도 골격형 마스터암의 기구학 연구 (Kinematic of 7 D.O.F. Exoskeleton-Type Master Arm Estimating Human Arm's Motion)

  • 신완재;최종현;벅정현;박종오
    • 제어로봇시스템학회논문지
    • /
    • 제6권9호
    • /
    • pp.796-802
    • /
    • 2000
  • A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

  • PDF

수술용 로봇 햅틱 시스템 구성을 위한 저관성 마스터 장치 핸들부 개발 (Development of Low-inertia Master device for Haptic system configuration of surgical robot)

  • 강병호;윤성민;이민철;김지언
    • 로봇학회논문지
    • /
    • 제7권4호
    • /
    • pp.267-275
    • /
    • 2012
  • When using commercialized robot assisted laparoscopic, surgeon has met some problems to depend only on image of the surgical field. To solve it, there were various researches. The previous study showed that it is possible to estimate the operation force on the commercialized instrument inside patient without sensors. To apply the estimated force to a haptic master console for the laparoscopy surgical robot system, the light haptic master console should be designed. This paper suggests the design of lighter master console handle to reduce a weight of the console whose structure can match with the joint and DOF of an instrument. A cable-conduit mechanism is designed to make light structure to perform a delicate manipulation. The cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link of a manipulator.

IMS를 위한 Human Interface 시스템 개발 - 원격제어 시스템의 활용 - (Development of a Human Interface System for the IMS, - Application of the Teleoperation System -)

  • 차인혁;한창수;이병주
    • 한국정밀공학회지
    • /
    • 제15권8호
    • /
    • pp.156-164
    • /
    • 1998
  • IMS is a more advanced manufacturing system than FMS. However, IMS do not have sufficient performance for the work in the various and uncertain environment, because of the difficulty of the work and occurrence of the unexpected condition. If IMS is hard to work properly, teleoperation system can support it by using the human's consideration and judgment. The master mechanism is a basic component of the teleoperation system and the development of the useful one is important for efficiency of the work. A master mechanism of exoskeleton type can increase the work efficiency, mobility and harmony between a working robot and an operator. This paper describes an arm-harness of exoskeleton type, which is able to drive a robot according to judgment. This device is applied to a robot system for evaluating the system performance through the experiment.

  • PDF

원격 중재시술용 마스터장치에 대한 의료진 요구분석 및 이를 반영한 메커니즘 설계 (Physicians' Requirement Analysis Based Design of the Master Device Mechanism for Teleoperated Interventional Robotic System)

  • 우현수;조장호;이혁진
    • 제어로봇시스템학회논문지
    • /
    • 제22권8호
    • /
    • pp.603-609
    • /
    • 2016
  • This paper presents an optimally designed master device mechanism for teleoperated interventional robotic system. The interventional procedures using the teleoperated robotic system and the physicians' requirements are summarized. The master device should implement 5-DOF motion including 2-DOF translational motion for the entry position control, 2-DOF rotational motion for the orientation control, and 1- DOF translational motion for needle insertion. The handle assembly includes a 1-DOF translational mechanism for needle insertion and buttons for operation mode selection. The mechanisms for the 2-DOF translational motion and the 2-DOF rotational motion are designed using motors and brakes based on the various mechanisms to satisfy all the above requirements, respectively. Absolute position sensors are adopted to implement automatic initial positioning and orientation matching at the first step of needle insertion.

5각 관절 병렬 구조를 이용한 6자유도 힘 반사형 마스터 콘트롤러 (A Six-Degree-of-Freedom Force-Reflecting Master Hand Controller using Fivebar Parallel Mechanism)

  • 진병대;우기영;권동수
    • 제어로봇시스템학회논문지
    • /
    • 제5권3호
    • /
    • pp.288-296
    • /
    • 1999
  • A force-reflecting hand controller can provide the kinesthetic information obtained from a slave manipulator to the operator of a teleoperation system. The goal is to construct a compact hand controller that can provide large workspace and good force-reflecting capability. This paper presents the design and the analysis of a 6-degree-of-freedom force-reflecting hand controller using fivebar parallel mechanism. The forward kinematics of the fivebar parallel mechanism has been calculated in real-time using three pin-joint sensors in addition to six actuator position sensors. A force decomposition approach is used to compute the Jacobian. To evaluate the characteristics of the fivebar parallel mechanism, it has been compared with the other three parallel mechanisms in terms with workspace and manipulability measure. The hand controller using the fivebar parallel mechanism has been constructed and tested to verify the feasibility of the design concept.

  • PDF

전주금형 제작을 위한 폴리머의 엑시머 레이저 어블레이션 (Excimer Laser Ablation of Polymer for Electroformed Mold)

  • 이제훈;신동식;서정;김도훈
    • 한국정밀공학회지
    • /
    • 제21권12호
    • /
    • pp.13-20
    • /
    • 2004
  • Manufacturing process for the microfluidic device can include such sequential steps as master fabrication, electroforming, and injection molding. The laser ablation using masks has been applied to the fabrication of channels in microfluidic devices. In this study, manufacturing of polymer master and mold insert for micro injection molding was investigated. Ablation of PET (polyethylene terephthalate) by the excimer laser radiation could be used successfully to make three dimensional master fur nickel mold insert. The mechanism fur ablative decomposition of PET with KrF excimer laser $({\lambda}: 248 nm, pulse duration: 5 ns)$ was explained by photochemical process, while ablation mechanism of PMMA (polymethyl methacrylate) is dominated by photothermal process, the .eaction between PC (polycarbonate) and KrF excimer laser beam generate too much su.face debris. Thus, PET was adopted in polymer master for nickel mold insert. Nickel electroforming using laser ablated PET master was preferable for replication method. Finally, it was shown that excimer laser ablation can substitute for X-ray lithography of LIGA process in microstructuring.

Sector Based Multiple Camera Collaboration for Active Tracking Applications

  • Hong, Sangjin;Kim, Kyungrog;Moon, Nammee
    • Journal of Information Processing Systems
    • /
    • 제13권5호
    • /
    • pp.1299-1319
    • /
    • 2017
  • This paper presents a scalable multiple camera collaboration strategy for active tracking applications in large areas. The proposed approach is based on distributed mechanism but emulates the master-slave mechanism. The master and slave cameras are not designated but adaptively determined depending on the object dynamic and density distribution. Moreover, the number of cameras emulating the master is not fixed. The collaboration among the cameras utilizes global and local sectors in which the visual correspondences among different cameras are determined. The proposed method combines the local information to construct the global information for emulating the master-slave operations. Based on the global information, the load balancing of active tracking operations is performed to maximize active tracking coverage of the highly dynamic objects. The dynamics of all objects visible in the local camera views are estimated for effective coverage scheduling of the cameras. The active tracking synchronization timing information is chosen to maximize the overall monitoring time for general surveillance operations while minimizing the active tracking miss. The real-time simulation result demonstrates the effectiveness of the proposed method.

의료용 햅틱 마스터-슬레이브 로봇 시스템 : 실험적 성능 평가 (A Haptic Master-slave Robot System : Experimental Performance Evaluation for Medical Application)

  • 오종석;신원기;프엉박;엄창호;최승복
    • 한국소음진동공학회논문집
    • /
    • 제23권1호
    • /
    • pp.41-48
    • /
    • 2013
  • In this work, 4-DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery(MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4-DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

의료용 햅틱 마스터-슬레이브 로봇 시스템 : 실험적 성능 평가 (A Haptic Master-Slave Robot System : Experimental Performance Evaluation for Medical Application)

  • 오종석;신원기;프엉박;엄창호;최승복
    • 한국소음진동공학회:학술대회논문집
    • /
    • 한국소음진동공학회 2012년도 추계학술대회 논문집
    • /
    • pp.421-427
    • /
    • 2012
  • In this work, 4 DOF ER haptic master is proposed and integrated with a slave robot for minimally invasive surgery (MIS). Using a controllable ER fluid, the haptic master can generate a repulsive force/torque with the 4-DOF motion. For realization of master-slave robot system, the motion command of the haptic master is realized by slave surgery robot. In order to follow the 4 DOF motion of the haptic master, novel mechanism of slave surgery robot with gimbal joint is devised. Accordingly, the haptic master-slave robot system is established by incorporating the slave robot with the haptic master device in which the desired repulsive force/torque and position are transferred to each other via wireless communications. In order to obtain the desired force/torque and position trajectories, tracking controllers for haptic master and slave robot are designed and implemented, respectively. It has been demonstrated that the desired effective torque tracking control performance is well achieved using the proposed haptic master-slave robot system.

  • PDF