치과용 임플란트 시술 보조 로봇의 기구학적 설계에 관한 연구

정상화,서호진,김재상 한국공작기계학회 2008 한국공작기계학회 춘계학술대회논문집 Vol.2008 No.-

There are many technical progresses in dental implantology. Development of CT(Computerized Tomography) and 3D visualization technique help to make the treatment plan and the surgical navigation assists the dentist during the intra-operative procedure. Although navigation facilitates positioning, the image guided adjustment of the angle cannot be attained easily. Furthermore, the influence of random factors such as trembling etc cannot be substantially eliminated by mere computer assisted navigation. On the other hand, template based techniques do not allow for intraoperative modifications of the preplanned positions. In this paper, the kinematic design of a dental implant assistant robot is studied. The robot and the operator perform an task by cooperative manipulation. The force/torque sensor is attached to the tool and specifically designed for the precise measurement of during the implant surgery. The assistant manipulator consists of an orientation part which drives a tool angle to keep the target point and an insertion part which runs drill tip to desired depth. The 3-D modeling and simulation of implant assistant manipulator are performed. The kinematic mechanism is evaluated freely to move the angle of the implant handpiece by simulation based on the fixed drill tip. The advantage of this mechanism provides a better, more comfortable operating environment for the surgeon.

구간분할 바이너리 제어를 이용한 로봇핸드의 동특성에 관한 연구

정상화,차경래,김현욱,최석봉,김광호,박준호 한국공작기계학회 2005 한국공작기계학회 춘계학술대회논문집 Vol.2005 No.-

In recent years, as the robot technology is developed the researches on the artificial muscle actuator that enable robot to move dextrously like biological organ become active. The widely used materials for artificial muscle are the shape memory alloy and the electro active polymer. These actuators have the higher energy density than the electromechanical actuator such as motor. However, there are some drawbacks for actuator. SMA has the hysterical dynamic characteristics. In this paper the segmented binary control for reducing the hysteresis of SMA is proposed and the simulation of anthropomorphic robotic hand is performed using ADAMS.

레이저 진동 측정기를 이용한 초음파 이송 시스템의 동작특성에 관한 연구

정상화,신병수,이경형 한국공작기계학회 2003 한국공작기계학회 추계학술대회논문집 Vol.2003 No.-

In the semiconductor and the optical industry a new transport system which can replace the conventional sliding system is required. These systems are driven by magnetic field and conveyer belt. The magnetic field damages semiconductor and contact force scratches the optical lens. The ultrasonic wave driven system can solve these problem. In this paper, the vibration behavior of flexural beam in the ultrasonic transport system is verified using Laser Scanning Vibrometer. The experiments for verifying vibration are performed in three conditions such as in the maximum transport speed, in the zero speed, and in the change of transport direction.

다채널 광정렬 장치 로터리 스테이지 개발에 관한 연구

정상화,차경래 한국공작기계학회 2003 한국공작기계학회 추계학술대회논문집 Vol.2003 No.-

In recent years, as the optical Communication systems are developed, the demands of essential parts such as splitter, coupler, WDM, and AWG filter are grow rapidly. The fabrication process for them is not, however, automatic. On that reason, the automation is needed for the grow of productivity. The optical alignment and attach ment is the core process in fabrication. In this paper, the 6-axis rotary stage for multi-channel optical alignment system is developed and the dynamic characteristic of this system is studied.

압전 액츄에이터를 이용한 초정밀 다축 위치조정장치의 개발

정상화,차경래 朝鮮大學校 機械技術硏究所 2002 機械技術硏究 Vol.5 No.2

최근 반도체 리소그래피, 초정밀 가공 및 초정밀 구조 같은 분야에서 초정밀 위치제어장치의 필요성 증대되고 있다. 본 연구에서는 압전액츄에이터, 탄성힌지와 정전용량형센서로 이루어진 초정밀 다축 위치제어장치를 설계하고 개발하였다. 또한 초정밀 위치제어 장치의 3축 운동과 분해능을 검증하였다. In recent years, precision positioning stage is demanded for some industrial fields such as semi-conductor lithography, ultra precision machining, and fabricating of nano structure, In this research, precision multi-axis positioning stage, which consists of pzt actuator, flexure, and capacitance gauge, is designed and developed. The performance of 3-axis positioning, characteristics of motion and resolution are verified.

건전지 세퍼레이터 와인딩 및 삽입시스템의 Virtual Prototype 개발

정상화,김택현,나윤철 朝鮮大學校 機械技術硏究所 2002 機械技術硏究 Vol.5 No.1

Most of battery industries are growing explosively as a core strategy industry for the development of the semi-conductor, the LCD, and the mobile communication device. Dynamic characteristic analysis consists of dynamic behavior analysis and finite element analysis and is necessary for effective design of machines. In the dynamic behavior analysis, the displacement, velocity, applied force and angular velocity of each components are simulated according to each part. In the FEA, stress analysis, mode analysis, and frequency analysis are performed for each part. The results of these simulations are used for the design specification investigation and compensation for optimal design of cell manufacturing line. Virtual Engineering of the separator inserting machine on the automatic cell assembly line systems are modeled and simulated. 3D motion behavior is visualized under real-operation condition on the computer window. Virtual Prototype make it possible to save time by identifying design problems early in development, cut cost by reducing making hardware prototype, and improve quality by quickly optimizing full-system performance. As the first step of CAE which integrates design, dynamic modeling using ADAMS and FEM analysis using NASTRAN are developed.

초음파 여기를 이용한 물체 이송 시스템 개발에 관한 연구

정상화,신병수,차경래,송석,이경형 한국공작기계학회 2003 한국공작기계학회 춘계학술대회논문집 Vol.2003 No.-

In recent years, as the semiconductor and the optical industry grows, the necessity of the transporting system for semiconductor and precision optical lens without damage increases. The transport system using ultrasonic wave is very suitable for this area. In this paper the object transport system using the excitation of ultrasonic wave is proposed. The experiments for finding the optimal excitation frequency, finding phase-difference between two ultrasonic wave generators are performed. The effect of transporting speed according to the change of weight and amplification voltage are verified. In addition, the system performance for actual use is evaluated.

구간분할 제어를 이용한 형상기억합금 와이어의 히스테리시스 특성에 관한 연구

정상화,김주환 한국공작기계학회 2007 한국공작기계학회 추계학술대회논문집 Vol.2007 No.-

Shape memory alloy(SMA) is one of artificial actuators used in the anthropomorphic robot hand. It generates displacement by input of heat or electric current on the entire SMA wire. SMA has a prominent strain hysteresis and its phase transition is dependent on temperature, stress and the direction of motion. Conventional control methods of SMA wire use the analogue, approach such as Galerkin method, Preishach method, slide mode, neural fuzzy, etc. The position control of SMA which uses the analogue approach is difficult. In this paper, the hysteresis characteristics of SMA wire using segment control is studied. SMA wire is controled by the digital approach. Thermo-electric module(TEM) which can heat and cold the same surface using the h-bridge circuit is used for segmenting a SMA wire and hysteresis of segmented SMA wire is measured.

Political Economy of North Korea’s WMD Venture and Its Strategic Implications

정상화 한국세계지역학회 2010 世界地域硏究論叢 Vol.28 No.2

This paper discusses the nexus between North Korea’s power configuration, economic conditions, and its WMD development. The isolated Stalinist country could dodge the economic difficulties it experienced since the 1990s with its consolidated one-man dictatorship. However, the regime’s inflexibility has retarded its economic transformation despite the severe economic plight during the mid-1900s. Transition to a market economy could put the hierarchical ruling system in danger of experiencing a serious regime crisis. The dilemma of having to choose between maintaining internal stability and guaranteeing the regime security has driven the North Korean leadership to design a risky strategy of missile and nuclear development. That was the only choice it could take for getting international attentions. International sanctions have proven to be insufficient to penalize the maverick country that dared the missiles and nuclear tests in 2006 and in 2009. The success of a tit-for-tat game is highly dependent upon the astute consistency of rewarding and punishing, and the policy coordination among the stakeholder countries. This is hardly possible in the case of the North Korea nuclear issue because of the limits in monitoring ability and of the lack of effective leverage to enforce it. Six-Party talks, therefore, cannot bear any fruits. In the future, nothing would guarantee the viability of North Korea so overridden with structural contradictions.

다축 제어용 시뮬레이터의 링크부 설계 및 기구학적 해석에 관한 연구

정상화,박용래 朝鮮大學校 機械技術硏究所 2000 機械技術硏究 Vol.3 No.2

차량, 항공기, 그리고 각종 기계 구조물에 대한 진동 평가나 설계 또는 훈련을 위한 실제 실험은 비용이나 실험 환경 등에 있어 많은 제한을 받게 된다. 그러므로 실제 운동조건과 같은 환경을 제공하는 가진 시뮬레이터는 설계나 평가에 있어 대단히 편리하면서도 경제적인 이점을 제공하여 준다. 본 논문에서는 휠(wheel)에 작용하는 3가지 요소, 연직 하중(vertical force), 전후 하중(longitudinal force), 횡 하중(lateral force)을 복합적으로 재현할 수 있는 링크 구조인 다축 시뮬레이터(multi-axis simulator)를 설계하여 기구학적 해석을 하였고, 동역학 해석 프로그램인 ADAMS TM로 시뮬레이션을 하여 다축 시뮬레이터에 요구되는 조건과 비교하였다. In the experiments of vibration evaluation, and test of vehicles, aircraft, and other mechanisms the development of vibration simulator that serves environment similar to real fields takes lots of advantages. In this research, link-structured multi-axis simulator is designed. It can simulate wheel-applied force which is compounded force; vertical force, longitudinal force, lateral force. Kinematic analysis on this system is performed and simulated on computer as well using ADAMS and then two results of them are compared and analyzed.