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Selection and Design of Drive Modules for Robot Joint Based on Dynamic Load Characteristics
서정무,류세현,서장호,정현교 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2
This paper presents the selection and design process of joint motors and gears for robot systems. Thevelocity, acceleration, and torque profiles of each joint that satisfy a given task are calculated using dynamic andkinematic analysis, and the required motor torque to drive the joint is calculated with respect to the combination ofmodule inertia and gear ratios. Considering energy efficiency, motor parameters, and switching characteristics ofthe inverter, the correlation between the module inertia and gear ratio for driving joints is investigated, and the finalcombination is determined by referring to commercial gear data sheets. From the determined motor inertia, variousmotor designs are possible. To compare the performance and determine the optimal model, performance metrics ofdrive motors, torque matching, coil temperature, and the motor constant, are proposed and the significance of thesefigures are discussed.
환경영향평가제의 효율적 실시에 있어 주민참여에 관한 연구
서정무,정순형 한국지역복지정책연구회 1991 지역복지정책 Vol.5 No.-
Environmental Impact Assessment(EIA) is one of the most important procedures in the course of all developing activities which involve decision-making. An EIA can be defined as an activity designed to identify and predict the in impact on the biogeophysical and the socioeconomic environment and on man's health and well-being of legislative proposals, policies, programmes, projects, and operational procedures, and to interpret and communicate information about the impacts. Because in the process of EIA, resident participation is one of the most important procedures. The demand for resident participation in EIA is being increased, because it can help establishing, the appropriate EIA, materializing the overall coordination function of administration, and democratic environmental administration preventing the possible arbitrary decision by the related authorities. As a result the alternatives for organize to resident participation in EIA have been noted and those alternatives are explained as follows: 1. People's awareness of the environment must change to environmental preservation from economic growth. 2. Officials should share the cognition that resident participation is possible for our environmental administration, it benefits both the government and the resident in the long run, and it doesn't contradict the efficiency of environmental administrator. 3. The scope of "Standing to sue" in a administrative litigation dealing with environmental affairs should be enlarged. 4. A obligatory law suit which are on the reciprocal complementary relationship with the activation of resident participation should be permitted. Finally once again emphasizing the urgent need for resident participation in EIA to ensure healthy and sanitary living conditions for the people of the present and the future, the writer hopes this study will contribute to the environmental problems.