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볼트 체결 건설로봇의 구동 및 구동 지지부의 안전성 평가
이용훈(Yong Hoon Lee),이민규(Min Gyu Lee),임홍재(Hong Jae Yim),남형도(Hyung Do Nam),이용권(Yong Kwun Lee) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.10
In this paper a design methodology is presented for a construction robot which performs fastening bolts. Dynamic forces exerting on the robot structure are simulated using multi-body dynamic analysis when the robot moves along the three axial guides and rotates about Z axis. Finite element stress analysis is carried out to evaluate stress levels at the critical locations based on the dynamic loading conditions. Safety design can be validated to meet the design requirements.
이승윤(Seung Yoon Lee),이정석(Jung Suk Lee),임홍재(Hong Jae Yim),이동근(Dong-Kun Lee),이용권(Yong Kwun Lee) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
In this study, topology optimization technique is presented for the alignment clip of the construction robot which fastens bolts. In this process, the alignment clip aligns the bolt hole of H-beam. During aligning process the stress which occurs at the alignment clip exceeds the yield stress. The new design is made by using the topology optimization program based on original design and then the stress is analyzed through the static analysis. This process is repeated until the maximum stress is below allowable stress.
이민규(Min Gyu Lee),이용훈(Yong Hoon Lee),임홍재(Hong Jae Yim),최우석(Wooseok Choi),이용권(Yong Kwun Lee) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.10
Recently, robots have begun to perform various tasks on replacing the human in the daily life such as cleaning, entertainments etc. In order to accomplish the effective performance of intricate and precise tasks, robot hand must have special capabilities, such as decision making in given condition, autonomy in unknown situation and stable manipulation of object In this study, we addresses the development of a 3-fingered humanoid robot hand system We execute static analysis and vibration analysis to reserve stability at the design. We propose a fust and efficient grasp by the robot hand. Grasp motion of the finger uses a linear actuator and gears. Motion can be distinguished into four parts depending on the grasping thin paper, sphere, and column A new robot is manufactured and feasibility of the hand is validated through preliminary experiments.
김은혜(Eun-Hye Kim),이용권(Yong-Kwun Lee) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
This paper describes a development of bio-mimetic robot hands and its control scheme. The robot hand has controlled by four under-actuated fingers with totally nine DOFs, which are controlled by two linear actuators and linkage knuckles. This mechanism is able to generate high power compare to common robot hands that use rotary actuators. The robot hand has four tactile sensors which are attached to the fingertips on the each finger. The each tactile sensor can independently measure the contact force between the robot hand and an object. Using the tactile sensors, various objects can be grasped. In the former part of the paper, the mechanical design of the robot hand is presented. In the latter part of the paper, the grasping control is described.
송하권(Ha-Gwon Song),이용권(Yong-Kwun Lee),임동원(Dong-Won Lim) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
In machinery, the incipient fault detection is of importance to avoid any fatal breakdown of operations. Typically, a mechanical part gradually degrades, and then its degradation accelerates as time goes. The EHA (Electro-Hydraulic Actuator) is a linear actuator which merits include its high weight-to-power ratio. The water-based EHA, which does not contaminate surrounding environment due to the leakage, employs the plastic pump, because the operating fluid is water. The plastic pump requires automatic fault detection due to its low strength of the material. In this research, the early fault detection methodology of the plastic pump is proposed based on the hardware redundancy. The residual from pressure measurements is generated, and approximately 0.005 MPa was observed. To declare the fault, the accumulated residual is used because 0.005 MPa is less than the noise level. With 1 MPa threshold, the fault could be declared using the accumulated residual which becomes greater than 1 MPa after 10 seconds of its operation.