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생체 모방학과 트리즈를 이용한 보급형 서비스 로봇 핸드의 설계
고훈건(Hun Keon Ko),조창희(Chang Hee Cho),김권희(Kwon Hee Kim) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.4
This work presents a study on the design of a commercially viable service robot hand for tele-presence manipulators. The conceptual design of new robot hand is derived from biomimetics approach. Guided by the analysis of human arm' musculoskeletal structure, the fingers are actuated by cables and actuators in the forearm. High tension in the cables is achieved by screw-nut mechanism driven by DC motors. A set of combination springs is incorporated in each of the screw-nut mechanism for easy control of gripping force. The first prototype revealed difficulties with finger control and coupling problem between gripping force and wrist movement. The solutions to these problems have been derived from the contradiction analysis of TRIZ. The second design has been verified by tests on various objects with different weight and shape for full range of wrist motion.
생체 모방학과 트리즈를 이용한 보급형 서비스 로봇 핸드의 설계
고훈건(Hun Keon Ko),조창희(Chang Hee Cho),김권희(Kwon Hee Kim) 대한기계학회 2010 大韓機械學會論文集A Vol.34 No.11
본 연구에서는 원격 조정 매니퓰레이터에 적용할 수 있는 보급형 서비스 로봇 암을 개발하였다. 생체 모방학을 활용하여 새로운 형태의 로봇 손에 대한 개념을 도출하였다. 손가락과 손목은 인체 팔의 근골격에 분석을 통하여 상박에 설치된 와이어와 액추에이터에 의하여 구동된다. DC 모터에 의해 구동되는 스크류-너트 매커니즘을 통하여 구동 케이블에 높은 장력을 발생시킨다. 파지력의 쉬운 제어를 위하여 스크류-너트 메커니즘에 조합 스프링을 적용하였다. 첫 번째 설계에서 손가락 제어 문제, 손가락과 손목 운동의 간섭 문제가 발견되었다. 트리즈의 모순 분석을 통하여 이러한 문제에 대한 해결안을 도출하였다. 두 번째 설계에 대하여 다양한 형태와 무게의 물체에 관하여 파지와 동작 테스트를 시행하였다. This work presents a study on the design of an economic service robot hand for tele-presence manipulators. The conceptual design of new robot hand is derived from biomimetics approach. Guided by the analysis of human arm’ musculoskeletal structure, the fingers are actuated by cables and actuators in the forearm. High tension in the cables is achieved by screw-nut mechanism driven by DC motors. A set of combination springs is incorporated in each of the screw-nut mechanism for easy control of gripping force. The first prototype revealed difficulties with finger control and coupling problem between gripping force and wrist movement. The solutions to these problems have been derived from the contradiction analysis of TRIZ. The second design has been verified by tests on various objects with different weight and shape for full range of wrist motion.
에어백 폴딩 패턴에 따른 어린이 더미 상해치 발생 구조의 분석
최원정(Won Jung Choi),김권희(Kwon Hee Kim),고훈건(Ko Hun Keon),손창규(Chang Kyu Son),김동석(Dong Seok Kim) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
Airbags may harm out-of-position(OOP) children and small females during deployment. There have been numerous efforts to improve the design of airbags regarding this issue. Folding pattern of airbags is an important factor which affects inflation characteristics as well as OOP injury performance. In this work, using MADYMO software, simulations on the OOP injury of children have been performed with respect to folding patterns and child dummy positions.
어린이 상해에 영향을 주는 에어백 설계 인자에 대한 연구
최원정(Won Jung Choi),김권희(Kwon Hee Kim),고훈건(Ko Hun Keon),김동석(Dong Seok Kim),손창규(Chan Kyu Son) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
Airbags may harm out-of-position(OOP) children and small females during deployment. An airbag system is required to protect the occupant for FMVSS208 regulation. In this work, using MADYMO software, simulations on the OOP injury of children have been performed with respect to airbag design parameters and child dummy positions. Design of experiments is employed for folding patterns, sizes of vent hole, positions of cover tear seam line and types of door tear seam. Sensitivity and interactions among the parameters are investigated with the Taguchi method. An optimal combination of design parameters to minimize the injury of the children is suggested.