http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Byung-Yoon Lee,Gun-Hee Moon,Dong-Yeon Lee,Min-Jea Tahk,Hyun-Shik Oh 한국항공우주학회 2017 International Journal of Aeronautical and Space Sc Vol.18 No.2
In this paper, we propose a method to identify the parameters of a rotorcraft slung load system using the modal characteristics of a flexible cable. The proposed method estimates the length of the cable and the mass of the payload by means of a frequency analysis. Dynamic equations of the slung load system with the flexible cable are derived using Udwadia-Kalaba equation (UKE) in order to build a simulation program, and the similarity of the simulated slung load movement is verified by comparison with flight test results. Using the computer simulation program, we show that the proposed method works well within various parameter ranges.
정형채,이한결,나윤채,정지윤,이수영 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.3
This report presents the development of a cable-driven hyper redundant flexible robot arm that has 10 joints with 20 degreesof freedom. The robot arm has the cable-driven mechanism for actuating each joint of the robot; instead of attaching the motors directlyat each joints of the robot, the motors are deployed outside of the robot and the actuation force from the motors are transmitted by theflexible cables to each joint. The cable-driven mechanism makes the motion of the robot more flexible and dynamic by reducing theloads of motors to the robot. The control algorithm is designed based on the inverse kinematics using Pseudo inverse of Jacobian matrix. Detailed performances of this 10-joint robot arm and experimental results are outlined in further detail throughout this report. .
Lee, Byung-Yoon,Moon, Gun-Hee,Lee, Dong-Yeon,Tahk, Min-Jea,Oh, Hyun-Shik The Korean Society for Aeronautical and Space Scie 2017 International Journal of Aeronautical and Space Sc Vol.18 No.2
In this paper, we propose a method to identify the parameters of a rotorcraft slung load system using the modal characteristics of a flexible cable. The proposed method estimates the length of the cable and the mass of the payload by means of a frequency analysis. Dynamic equations of the slung load system with the flexible cable are derived using Udwadia-Kalaba equation (UKE) in order to build a simulation program, and the similarity of the simulated slung load movement is verified by comparison with flight test results. Using the computer simulation program, we show that the proposed method works well within various parameter ranges.
이병윤,문건희,이동연,탁민제,오현식 한국항공우주학회 2017 International Journal of Aeronautical and Space Sc Vol.18 No.2
In this paper, we propose a method to identify the parameters of a rotorcraft slung load system using the modal characteristics of a flexible cable. The proposed method estimates the length of the cable and the mass of the payload by means of a frequency analysis. Dynamic equations of the slung load system with the flexible cable are derived using UdwadiaKalaba equation (UKE) in order to build a simulation program, and the similarity of the simulated slung load movement is verified by comparison with flight test results. Using the computer simulation program, we show that the proposed method works well within various parameter ranges.
다물체 시스템이 이동하는 유연한 케이블의 동역학 해석에 관한 연구
서종휘,정일호,한형석,박태원 한국소음진동공학회 2004 한국소음진동공학회 논문집 Vol.14 No.2
In this paper, the dynamic behavior of a very flexible cable due to moving multibody system along its length is presented. The very deformable motion of a cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. Formulation for the sliding joint between a very flexible beam and a rigid body is derived. In order to formulate the constraint equations of this joint, a non-generalized coordinate, which has no inertia or forces associated with this coordinate, is used. The modeling of this sliding joint is very important to many mechanical applications such as the ski lifts. cable cars, and pulley systems. A multibody system moves along an elastic cable using this sliding joint. A numerical example is shownusing the developed analysis program for flexible multibody systems that include a large deformable cable.
이종선(Lee Jong-Sun),백두성(Baik Doosung) 한국산학기술학회 2009 한국산학기술학회논문지 Vol.10 No.1
본 논문에서는 Flexible Flat Cable을 생산하는 기계에서 작업시 텐션양을 조절하는 콘트롤러에 대해 하중과 모멘트를 변화시켜 적용하고 또한 텐션 콘트롤러 각각의 하중이 프레임에 집중할 때 처짐량을 알기 위하여 ANSYS로 구조해석을 수행하였다. 해석 결과로는 응력, 변형률과 최대변형량을 구하여 구조적 타당성을 검토하고 이들 설계에 반영한다. In this research, structural analysis was conducted by applying ANSYS commercial code in order to evaluate deflection quantitatively when each weight of tension controllers was centered and weights and moments on a controller controlling tension amounts was varied in a machinery manufacturing flexible flat cable. Based on the numerical structure analysis, stress, strain and amounts of maximum deformation were obtained and investigated structural validity and was reflected on design of the controller.
Kim, Jeongtae,Yoon, Ji-Sub,Choi, Sang-Won The Korean Institute of Electrical Engineers 2016 Journal of Electrical Engineering & Technology Vol.11 No.5
<P>In this study, in order to analyze the lifetime for flexible cables used in portable electric machines, artificial accelerating aging was carried out for VCT(Vinyl Cab-Tire) cables in consideration of thermal, mechanical and electrical multiple-stresses. Accelerated aging factors were calculated with aging temperatures based on the Arrhenius relationship. Through Weibull statistical analysis in the AC breakdown voltages for aged cables after low-temperature mechanical tests, it was analyzed that AC breakdown voltages were proportional to the elongation rates and 19kV of the scale parameter in Weibull analysis was suggested as limit value of lifetime. Using this criterion, it was deduced that the lifetimes with thermal and mechanical multiple-stresses for 70 degrees C, 50 degrees C and 40 degrees C continuous operation were calculated to be 3.3 years, 9.9 years and 15.7 years respectively. Based on these analysis procedure, it is possible to suggest the lifetime assessment technique with multiple stresses for low voltage cables.</P>
Jeongtae Kim,Ji-Sub Yoon,Sang-Won Choi 대한전기학회 2016 Journal of Electrical Engineering & Technology Vol.11 No.5
In this study, in order to analyze the lifetime for flexible cables used in portable electric machines, artificial accelerating aging was carried out for VCT(Vinyl Cab-Tire) cables in consideration of thermal, mechanical and electrical multiple-stresses. Accelerated aging factors were calculated with aging temperatures based on the Arrhenius relationship. Through Weibull statistical analysis in the AC breakdown voltages for aged cables after low-temperature mechanical tests, it was analyzed that AC breakdown voltages were proportional to the elongation rates and 19kV of the scale parameter in Weibull analysis was suggested as limit value of lifetime. Using this criterion, it was deduced that the lifetimes with thermal and mechanical multiple-stresses for 70℃, 50℃ and 40℃ continuous operation were calculated to be 3.3 years, 9.9 years and 15.7 years respectively. Based on these analysis procedure, it is possible to suggest the lifetime assessment technique with multiple-stresses for low voltage cables.
Recent Developments of Actuation Mechanisms for Continuum Robots: A Review
Ibrahim A. Seleem,Haitham El-Hussieny,Hiroyuki Ishii 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.5
Traditional rigid robots face significant challenges in congested and tight environments, including bulky size, maneuverability, and safety limitations. Thus, soft continuum robots, inspired by the incredible capabilities of biological appendages such as octopus arms, starfish, and worms, have shown promising performance in complex environments due to their compliance, adaptability, and safety. Different actuation techniques are implemented in soft continuum robots to achieve a smoothly bending backbone, including cable-driven actuators, pneumatic actuators, and hydraulic actuation systems. However, designing and developing efficient actuation mechanisms, motion planning approaches, and control algorithms are challenging due to the high degree of redundancy and non-linearity of soft continuum robots. This article profoundly reviews the merits and drawbacks of soft robots’ actuation systems concerning their applications to provide the readers with a brief review reference to explore the recent development of soft robots’ actuation mechanisms technology. Moreover, the authors have surveyed the recent review studies in controller design of continuum robots as a guidance for future applications.