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분산 구동 메커니즘을 내장한 로봇 핑거의 정밀 자세 제어기 설계
신영준(Young June Shin),김경수(Kyung-Soo Kim),김수현(Soohyun Kim) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.9
In this paper, we newly propose a novel control strategy of a three joints-robot finger for the purpose of artificial hands. The robot finger is specifically modeled by using a 3D CAD program (CATIA), considering human fingers, and then the proposed control method is verified through the dynamic simulation tool (Simulink and Recurdyn R2). Each slider is individually controlled to be located at the optimal positions where the maximal joint torque can be generated. To prove the effectiveness of the proposed control method, we devise two cases for the reference position of sliders. By comparing the control performance of two cases, the validity of the proposed control method will be verified.
고출력 Fingertip Force를 위한 핑거타입 매니퓰레이터의 메커니즘 설계
신영준(Young June Shin),김경수(Kyung-Soo Kim),김수현(Soohyun Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
Inspired from human finger mechanism, a novel actuation mechanism for the finger-type manipulator is designed to achieve highly powerful performance of robot fingers. Since the proposed mechanism allows the spatially continuously distributed forcing points on the multiple links, we have one more design freedom to optimize the fingertip force. Also, the proposed principle may be generally adopted for designing anthropomorphic robot hands with compact size and strong output force. To verify the proposed mechanism, the numerical analysis is being carried out, and the simulation results show the remarkably increased fingertip force compared with the conventional mechanism of the robot fingers.
분산 구동 메커니즘에 기반한 3축 평면 매니퓰레이터의 듀얼모드 운용
김종호(Jong Ho Kim),신영준(Young June Shin),장인권(In Gwun Jang) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
A three-link planar manipulator is a representative example of redundant actuation. Using this redundancy in actuation, the distributed actuation mechanism (DAM) was recently proposed to enhance the end-effector force. In this paper, dual-mode operation of a DAM-based three-link planar manipulator is proposed through evaluating its maximum achievable velocity and force at a target position. For this purpose, the end-effector velocity and force are mathematically derived. Design optimization is then performed to determine the maximum achievable velocity and force and to draw the allowable velocity and force polygons. In order to demonstrate the effectiveness of the proposed dual-mode operation, a human gait-like cycle is numerically analyzed and experimentally validated.
김종호(Jong Ho Kim),신영준(Young June Shin),김경수(Kyoung-Soo Kim),장인권(In Gwun Jang) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
In this paper, a new type of an excavator which adopts distributed actuation mechanism was proposed to enhance excavation performance. Distributed actuation mechanism can provide additional design parameters to improve manipulation performance, as already shown in our previous paper with a robotic finger. For the purpose of performance enhancement, we first derived the digging force of the proposed excavator and then analyzed its efficiency. Through the numerical simulations, digging force was increased by 71%.