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보행 로봇을 위한 서보밸브 구동 유압 액추에이터의 특성 분석
조정산,Cho, Jung San 유공압건설기계학회 2016 드라이브·컨트롤 Vol.8 No.3
This paper describes of a mathematical and real experimental analysis for a walking robot which uses servo valve driven hydraulic actuator. Recently, many researchers are developing a walking robot based on hydraulic systems for the difficult and dangerous missions such as walking in the rough terrain and carrying a heavy load. In order to design and control a walking robot, the characteristics of the hydraulic actuators in the joint through the view point of walking such as controllability and backdrivability must be analyzed. A general mathematical model was used for analysis and proceeds to position and pressure changes characteristic of the input and backdrivability experiment. The result shows the actuator is a velocity source, had a high impedance, the output stiffness is high in contact with the rigid external force. So stand above the controller and instruments that complement the design characteristics can be seen the need to apply a hydraulic actuator in walking robot.
보행 로봇을 위한 서보밸브 구동 유압 액추에이터의 특성 분석
조정산(Jung San Cho) 유공압건설기계학회 2016 드라이브·컨트롤 Vol.13 No.2
This paper describes of a mathematical and real experimental analysis for a walking robot which uses servo valve driven hydraulic actuator. Recently, many researchers are developing a walking robot based on hydraulic systems for the difficult and dangerous missions such as walking in the rough terrain and carrying a heavy load. In order to design and control a walking robot, the characteristics of the hydraulic actuators in the joint through the view point of walking such as controllability and backdrivability must be analyzed. A general mathematical model was used for analysis and proceeds to position and pressure changes characteristic of the input and backdrivability experiment. The result shows the actuator is a velocity source, had a high impedance, the output stiffness is high in contact with the rigid external force. So stand above the controller and instruments that complement the design characteristics can be seen the need to apply a hydraulic actuator in walking robot.
트리즈를 이용한 재난대응 특수목적기계의 양팔용 작업장치 설계
조정산(Jung San Cho) 유공압건설기계학회 2018 드라이브·컨트롤 Vol.15 No.3
This paper presents the design of attachments for dual arms of disaster responding heavy machine. The heavy machine handles a variety of tasks such as cutting, shredding, picking and moving in unstructured environment. Despite the need for rapid response, the heavy machine has difficulty in repeatedly replacing the attachment depending on the task. Thus, we propose a method to solve this physical and functional contradiction relation by using TRIZ separation principles. Above all, the existing equipment and the required working scenarios were surveyed and summarized in order to separate the attachments functionally for right-handed, left-handed and two-handed operation. Then, we proposed the design directions and conceptual design as following: multi function type attachment A, for precise operation and various operations; grab type attachment B, for grasping irregular objects and auxiliary device for both arms to handle bulky objects.
이지영(Ji-Young Lee),조정산(Jung-San Cho),이상재(Sang-Jae Lee) 한국기계가공학회 2016 한국기계가공학회지 Vol.15 No.2
In this paper, we deal with the dynamic walking of a humanoid robot. In our method, the inverted pendulum model is used as a dynamic model for a humanoid robot in which the Zero Moment Point (ZMP) and COG constraints of the robot are analyzed by considering the motion of the robot as that of an inverted pendulum. The motion of a humanoid robot should be generated by considering the dynamics of the robot, which commonly requires a large amount of computation. If a robot walks from one position to another while keeping the ZMP in the stable region, then the robot remains dynamically stable. The linear inverted pendulum model regards the whole robot as a point mass. It is simple, and relatively less computation is needed; however, it cannot model the whole dynamics of a humanoid robot. We propose a method for modeling a humanoid robot as an inverted pendulum system having 14 point masses. We also show that the dynamic stability of a humanoid robot can be determined more precisely by our method.
A Biologically Inspired Dexterous Robot Hand with High Grip Force
이동혁(Dong-Hyuk Lee),권인구(In Goo Kwon),조정산(Jung San Cho) Korean Society for Precision Engineering 2019 한국정밀공학회지 Vol.36 No.5
This paper presents a robot hand inspired from grasp and grip mechanism of human hand. In human hand, grasp and grip are different terms: Human hand can grasp an object adaptively by individual pulling of each finger’s tendon. Once the fingers make contact with the object, the human hand can grip the object with a larger force by simultaneous pulling of the tendon of each finger. Inspired from this, we propose a mechanism decoupling flexion drive and force-magnification drive for a wire-driven robot hand. The flexion drive consists of electric motors pulling the wire of each finger to make adaptive movement of the robot hand (grasp). The force-magnification drive consist of a hydraulic cylinder that pulls the wire of each finger simultaneously (grip). We also propose adaptive grasp mechanism using spring linkage. It is possible to grasp the irregular objects of limited size without a complex control algorithm or sensor system. We experimentally verified that the grip force of the prototype robot hand exceeds 300N which is 10 times larger than the electric motor alone.