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RISS 인기검색어
- 검색키워드
- 저자 : Yongkwun Lee (검색결과 4 건)
- 무료
- 기관 내 무료
- 유료
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Equation of Motion of a Wheeled Inverted Pendulum on an irregular Terrain
Lee Soo Jun,YongKwun Lee,Se-Han Lee 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
In this research, an equation of motion of a WIP (Wheeled Inverted Pendulum) running on an irregular terrain such as the inclined road is derived. The WIP becomes a popular platform for mobile robots which should be running on not only regular pavement but also irregular terrain. In order for the WIP to run on those roads there requires a robust controller which can be achieved from a fine equation of motion. This paper derives a planar (2D) equation of motion of the WIP based on Newton-Euler equation and equilibrium point changes of it with respect to those inclined roads. The changes mean that the reference point should be changed with respect to the inclined road conditions.
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A biomimetic hand employing a dual actuation scheme
Yongkwun Lee,조창현 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.12
This paper presents a biomimetic hand that employs a hybrid actuation scheme that provides large grasping forces and swift motion. This hybrid hand is made up of a red muscle actuator used for grasping and a white muscle actuator used for fast and accurate movement. A parallel structure utilizing fully back-drivable linear motors has been adopted for the white muscle actuators. The red muscle actuators employ a Micro Hydraulic Compressor Converter (MHCC), hydraulic cylinder, and a tendon. The tendon structure enables a passive shape adaptation during the act of grasping an object. Safety in regards to impact is achieved through the back-drivability. The hybrid hand is comprised of two fingers and a thumb. The fingers and the thumb all have 2 degrees of freedom. The hybrid actuation is only applied to the fingers. The experiment results indicate that a grasping force of 94N is generated through the red muscle actuator and a 3 Hz sinusoidal motion is obtained from the white muscle actuator.
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A New type of Bolting Robot for Steel-frame structure Constructions
Seokwon Lee,Hyungdo Nam,Yongkwun Lee,Jonghyeon Park 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, a new type bolting robot in steel-frame structure is introduced. The robot is composed of 3-axis gantry arms with linear motion actuators, a bolting tool, a cabin and additional supporting parts. To construct a high-rise building, steel-frame structure is more suitable than reinforced concrete structures. In steel-frame constructions, it is demanded fasten bolts to join two beams. By using this bolting robot, it can improve the efficiency and safety of construction. This paper describes design of a new type bolting robot and its dynamical analysis with some experiments.
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Takehiro Tashiro,Kanta Aoki,Yongkwun Lee,Taisuke Sakaki 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
Human Robotics Research Center (HRRC) has established in 2013 as an R&D center. Our objective is implement robots at the site of rehabilitation and nursing care. HRRC is working on the research and development of wearable auxiliary tool for behavior assistance of elderly who requires nursing care in cooperation with Kashiihara Hospital since 2015. Purpose of this research is to develop wearable device that can be reduce body burden of caregivers who carry out standing assistance / transfer assistance frequently at bathing care. We started this activity in 2015, and we have made 2 mockups so far. In 2016, a verification experiment of standing assistance / transfer assistance was conducted using prototype-1 that made based on the advice from Kashiihara hospital. As a result of the verification experiment, we assume 1st prototype will reduce the burden on caregivers. In the future, we will study "Powered Exoskeleton for Bathing Care" which applied ultra-mini hydraulic technology for body assistance and “Wearable Auxiliary Tool” that does not have body assistance".
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