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김희국,박주영,윤성식,Kim, Whee-Kuk,Park, Joo-Young,Yoon, Seong-Sik 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.6
The main objective of this study is to develop a gripper mechanixm that can be employed for assembly and removal tasks of a nozzle-dam of steam genetator in the process of the nuclear reactor maintenances. Brief description of the open-close thpe gripper mechanism, its position analysis, and its kinematic analysis are given. The optimal design of the gripper mechanism with and without slipping on its two gipping surfaces is considered. As an optimal design index, the ratio of the actuator force of prismatic cylinder to gripping load is proposed. Then, based on this index the oiptimal design is carried out to identify values of optimal design parameters for the gripper dechanism.
이병주,김희국,허금강,Yi, Byung-Ju,Kim, Whee-Kuk,Huh, Kum-Kang 제어·로봇·시스템학회 1996 제어·로봇·시스템학회 논문지 Vol.2 No.1
This work deals with the kinematic and dynamic optimal design of a six degree-of-freedom Stewart Platform mechanism, which is actuated by six prismatic cylinfers. Composite design index is employed to deal with multi-criteria based design in a systematic manner, and a sequential design method is suggested, in which the results from the kinematic optimization are employed in the following dynamic optimization.