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이기욱(Giuk Lee),서근찬(Kunchan Seo),김황(Hwang Kim),김선호(Sun Ho Kim),전동수,김홍석(Hong Seok Kim),김종원(Jongwon Kim) Korean Society for Precision Engineering 2012 한국정밀공학회지 Vol.29 No.2
This paper presents a transformable track mechanism for wall climbing robots. The proposed mechanism allows a wall climbing robot to go over obstacles by transforming the track shape, and also increases contact area between track and wall surface for safe attachment. The track mechanism is realized using a timing belt track with one driving actuator. The inner frame of the track consists of serially connected 5R-joints and 1P-joint, and all joints of the inner frame are passively operated by springs, so the mechanism does not require any actuators and complex control algorithms to change its shape. Static analysis is carried out to determine design parameters which enable 90º wall-to-wall transition and driving over projected obstacles on wall surfaces. A Prototype is manufactured using the transformable track on which polymer magnets are installed for adhesion force. The size of the prototype is 628㎜Ⅹ200㎜Ⅹ150㎜ (LengthⅩWidthⅩHeight) and weight is 4㎏f. Experiments are performed to verify its climbing capability focusing on 90º wall to wall transition and driving over projected obstacle.
근골격 모델을 이용한 평발환자의 보행 중 내외측 발목 접촉력 예측 및 비교
김정원(Jeongwon Kim),이기욱(Giuk Lee),이경민(Kyoung Min Lee),구승범(Seungbum Koo) 대한기계학회 2019 대한기계학회 춘추학술대회 Vol.2019 No.11
The tibiotalar joint of the most flatfoot patients has a valgus deformity. Because of the curved deformity, the contact force in the tibiotalar joint would be different from that of normal subjects resulting in pain at the joint. In this study, the contact force in the tibiotalar joint was estimated using a musculoskeletal model. Ten normal and ten flatfoot patients volunteered for this study. We recorded the kinematics of the subjects using a motion capture system, ground reaction force, and foot pressure using a force plate and a pressure mat. The talar dome was divided into medial and lateral regions. Three reaction elements were placed in each region to estimated the contact force in the region. The mean and peak contact forces in the lateral region in the flatfoot were larger than those in the normal subjects. Also, the total contact force of the tibiotalar joint was larger than that of normal subjects.
높은 유효하중 능력과 다양한 벽면전환 능력을 가진 다관절 등반로봇의 개발 및 추종제어
오종균(Jongkyun Oh),이기욱(Giuk Lee),김종원(Jongwon Kim),서태원(TaeWon Seo) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.10
Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.