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A Self-contained Wall Climbing Robot with Closed Link Mechanism
Hyoukryeol Choi,Jaejun Park,Taehun Kang 대한기계학회 2004 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.18 No.4
A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for W ALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.
A series elastic actuator using air and water and its force control
Iksu Choi,Chanyong Park,양기훈,Hyoukryeol Choi,Hugo Rodrigue,문형필 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.9
This study proposes a new type of series elastic actuator (SEA) utilizing a mixture of air and water. Instead of simply mixing air and water, a control method for its output force based on piston position control is suggested using the stiffness model of the mixture. The actuator is driven by the pressure generated when a stiff linear actuator compresses or decompresses the mixture in the syringe. The pneumatic medium makes the actuator compliant but slow, whereas the hydraulic one has a high bulk modulus, allowing for a fast but stiff response from the actuator. These characteristics can be adjusted by changing the air-to-water mixing ratio in the preparation stage before operation. After applying this actuator to the parallel jaw gripper system, grasping force control was performed without a load cell by utilizing the stiffness model of the mixture and the output force model. In an additional experiment, a very flexible object (a rose flower) and a very hard object (a glass vase) were successfully grasped by the gripper, which confirms the effectiveness of the actuator in controlling the grasping force.
Simple desired manipulability ellipsoid with velocity and force for control of redundant manipulator
Yun Seok Choi,이이삭,Phi Tien Hoang,Hyoukryeol Choi 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.4
Redundant manipulators are used in several areas because they can work with various postures. They are dexterous and can avoid crashing with obstacles during working in a complex environment. However, suitable redundant joints are difficult to identify. Manipulability is widely used to evaluate the posture of redundant manipulators. This approach aims to generate the motion of a manipulator with its trajectory and to determine its optimal posture. However, achieving these objectives is complex, and calculations involved are time consuming. In this study, a simple desired manipulability ellipsoid is proposed to reduce these shortcomings. The manipulator interacts with an object or its own inertia, and the suitable manipulability ellipsoid is related with these values. Therefore, this ellipsoid is calculated by using the desired force and velocity. In this manner, the redundant joint is controlled, and the current manipulability ellipsoid is similar to the desired manipulability ellipsoid, thereby enabling to approximately determine the optimal manipulability. The proposed method is tested by simulation and real model with four degrees of freedom manipulator. Subsequently, the similarity is validated.
Development of Anthropomorphic Robot Hand SKK Robot Hand I
Taehun Kang,Hyoukryeol Choi,Moonsang Kim 대한기계학회 2003 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.17 No.2
In this paper, a three-fingered anthropomorphic robot hand, called SKK Robot Hand I, is presented. By employing a two-DOF joint mechanism, called Double Active Universal Joint (abbreviated as DAUJ from now on) as its metacarpal joint, the hand makes it possible to mimic humanlike motions. We begin with addressing the motivation of the design and mention how the anthropomorphic feature of a human is realized in the design of SKK Hand I. Also,the mechanism of the hand is explained in detai, and advantages in its modular design are discussed. The proposed hand is developed for use as a testbed for dextrous manipulation. It is expected to resolve the increasing demand for robotic applications in unstructured edvironments. We describe its hardware construction as well as the controller structure including the preliminary results of experiments.<br/>
노세곤,최혁렬 한국비파괴검사학회 2002 한국비파괴검사학회지 Vol.22 No.3
현재까지 검사를 목적으로 하는 배관 검사용 로봇에 관한 많은 연구가 소개되어 왔다. 그러나 지하매설 배관의 복잡한 배관 요소 내에서 주행 할 수 있는 충분한 이동성을 갖추고 있는 로봇을 개발한다는 것은 여전히 어려운 것처럼 보인다. 배관 검사에 사용하기 위한 로봇은 수평관 및 수직관과 같은 기본적인 배관요소 내에서 자유롭게 주행해야 한다. 더불어 축소관이나 곡관에서 주행 할 수 있고 특히 분기관에서 조항 능력은 필수적이다. 본 논문에서는 배관 검사 로봇의 개발에 있어 필수적인 요소와 기술이 소개되며 지난 수년간 연구를 통하여 개발한 배관검사 로봇이 소개된다. Up to now a wide variety of researches on inpipe robots for inspection have been introduced, but it still seems to be difficult to construct a robot providing mobility sufficient to navigate inside the complicated configuration of underground pipelines. The robot for the inspection of pipelines should freely move along the basic configuration of pipelines such as along horizontal or vertical pipeline. Moreover it should be able to travel along reducers and elbows. and especially the capability for steering in branches is essential to it. In this report, critical pointss and technologies in the development of the inpipe inspection robots are introduced and inpipe robots developed for last several years are introduced.
Lee, Jun-Ho,Choi, Hyoukryeol,Nam, Jae-Do Cambridge University Press (Materials Research Soc 2009 Journal of materials research Vol.24 No.1
<P>Gold-coated polystyrene (PS) beads were fabricated by an in situ metallization route involving a cationic-gold complex with a controlled amount of sulfonic acid groups formed on the PS bead surface. The interaction ratio of SO3<SUP>−</SUP> to [Au(phen)Cl2]<SUP>+</SUP> may be estimated to be 2.4, which means that 2.4 sulfonated groups will interact with one gold cationic ligand based on geometric considerations. A modeling methodology was developed to predict the mechanical deformation, conductivity, and contact surface area of a spherical bead under compression.</P>
마찰을 고려한 탄성변형 환경과 접촉하는 가상도구의 조작감 제시
최혁렬,이승룡,류성무,Choi, Hyoukryeol,Lee, Seungryong,Ryew, Sungmoo 대한기계학회 1998 大韓機械學會論文集A Vol.22 No.4
This paper presents a haptic rendering algorithm in the case that the virtual environment elastically deforms in response to the force applied by a user with a virtual tool. Considering friction, elasticity, multiple contacts and dynamics of the virtual object, this algorithm lets the operator have the feel of interactions in the virtual environment as close as to the reality. Based on the proposed algorithm several experiments are conducted and its effectiveness is confirmed.