AnyClimb-II: Dry-adhesive linkage-type climbing robot for uneven vertical surfaces

Liu, Yanheng,Seo, TaeWon Elsevier 2018 Mechanism and machine theory Vol.124 No.-

<P><B>Abstract</B></P> <P>Vertical wall surfaces with obstacles present a serious challenge for wall-climbing robots. Owing to their limitations in overcoming obstacles, these types of robots have not been commercialized yet. Several ideas on novel designs and precise control have been suggested; however, further research is required to achieve enhanced robot capabilities in overcoming obstacles. Specifically, the use of dry adhesive methods by wall-climbing robots to climb over obstacles present tremendous challenges. This study introduces the design of a new linkage-type, wall-climbing robot, based on dry adhesion, for uneven vertical surfaces. Based on a four-bar mechanism, repeated walking is achieved via a single actuator. The robot's most important feature is the linkage design used for climbing over obstacles, which has been adopted from rover running patterns. The symmetric linkage design renders the robot adaptable to uneven surfaces with a compliant motion. Additionally, flat dry adhesives were used for the attachment mechanism. The design parameters were determined based on kinematic and static analyses, and certain important issues in linkage-type wall-climbing robot designs were addressed. The robot's performance was verified using experiments, whereby it was able to climb up and go down stairs with maximum stair heights of 15 mm (equal to 0.6% of the robot's height) during open-loop vertical walking. We expect that the linkage design can extend the accessible area of the wall-climbing robot.</P> <P>This study introduces the design of a new linkage-type, wall-climbing robot, based on dry adhesion, for uneven vertical surfaces. Based on a four-bar mechanism, repeated walking is achieved via a single actuator. The robot's most important feature is the linkage design used for climbing over obstacles, which has been adopted from rover running patterns. The symmetric linkage design renders the robot adaptable to uneven surfaces with a compliant motion. Additionally, flat dry adhesives were used for the attachment mechanism. The design parameters were determined based on kinematic and static analyses, and certain important issues in linkage-type wall-climbing robot designs were addressed. The robot's performance was verified using experiments, whereby it was able to climb up and go down stairs with maximum stair heights of 15 mm (equal to 0.6% of the robot's height) during open-loop vertical walking. We expect that the linkage design can extend the accessible area of the wall-climbing robot.</P> <P><B>Highlights</B></P> <P> <UL> <LI> Linkage design of a dry-adhesive wall-climbing robot for obstacle overcoming is proposed. </LI> <LI> Four-bar linkages are used for walking and adaptation. </LI> <LI> Compliant four-bar linkage is used to adapt on uneven surfaces autonomously. </LI> <LI> Single actuator is used for all locomotion such as walking and adapting on uneven surfaces. </LI> <LI> Kinematic and static analyses, and experimental results proves the reliability of the design. </LI> </UL> </P>

Managerial Mechanism Design Theory:The Concept and Framework with Applications in Emergency Management

An Chen,Yannan Wu,Ning Chen 위기관리 이론과 실천 2012 Journal of Safety and Crisis Management Vol.2 No.2

Mechanism design theory (MDT) which gained Nobel Prize in 2007 provides a formal way to mechanism design in Economics. It not only emphasizes on the phenomenon of modern economics, also gives an idea on the engineering side of economic theory, in particular, the implications for economic policy making. Despite the success of MDT in economics, it is difficultly migrated to management field. In managerial practices, especially emergent situation, people cannot make free choice and voluntary exchange due to the fact that some policies are sing-directed or half-compulsory. While the managerial mechanism is actively investigated for specific usages, a less studied issue is to study the unified framework of managerial mechanism which is of major importance to managers. This paper aims to provide a unified framework of managerial mechanism with an attempt to provide some insights into the fundamental of managerial mechanism design. Firstly, we discuss the difference between economical and managerial mechanism design from the perspectives of background, basic hypothesis, and weak obligation characteristic. Afterwards, we propose a unified framework of managerial mechanism design theory, composed of an order seven-tuple and some fundamental design modes. Lastly, we give a case study to show the applicability of the proposed mechanism design theory in emergency management.

지진격리교량과 강재받침교량의 연성파괴메커니즘에 의한 비교내진설계

국승규(Kook Seung Kyu) 대한토목학회 2006 대한토목학회논문집 A Vol.26 No.1A

지진격리교량은 내진설계가 도입된 이후 실무에서 많이 설계, 시공되고 있으나 현재 실무에서 제시하고 있는 설계결괴는 불필요하게 높은 기능수행수준과 취성파괴메커니즘으로 내진설계개념에 부합하는 설계라 할 수 없다. 이는 기존의 설계관행인 하부구조의 과다한 강성과 내진설계방식의 인식부족에 기인한 것이다. 이 연구에서는 기존의 설계관행에 의해 설계된 지진격리교량을 선정하고, 통일한 교량에 격리받침 대신 강재받침을 사용한 강재받침교량을 설정하여 비교내진설계를 수행하였으며, 이로부터 내진설계에서 요구되는 성능수준을 확보하기 위한 각 교량의 내진설계절차를 제시하였다. 강재받침교량에 비해 지진격리교량은 시산법과 반복해석을 적용해야 하는 복잡한 설계절차가 요구되는 반면 상대적으로 높은 기능수행수준을 제공한다는 것을 확인하였다. 그러나 강재받침교량도 하부구조 강성을 조정하면 요구되는 기능수행수준을 만족할 수 있으므로, 연성파괴메커니즘의 확보가 불가능한 경우 지진격리교량을 대안설계로 고려하는 것이 합리적인 내진설계과정이라는 것을 제시하였다. Many isolated bridges are designed and constructed after the introduction of the seismic design. However those bridges designed in engineering fields have unnecessarily high serviceability limit and brittle failure mechanism, which do not satisfy the seismic design concept. Such design results are due to the excessive substructure stiffness of the conventional design method as well as the misunderstanding of the seismic design method. In this study an isolated bridge designed with the conventional design method is selected and the same bridge with steel bearings is modelled for the comparative seismic design. From the comparison, the seismic design procedures satisfying the required performance levels are provided for the two bridges. It is confirmed that the isolated bridge requires more complicated design procedure with trial and error methods and reanalyses but provides higher serviceability limit compared to the bridge with steel bearings. However, because the required serviceability limit can also be obtained by adjusting substructure stiffness, it is a resonable seismic design process that an isolated bridge is to be considered as an alternative design when the ductile failure mechanism is not obtained with a bridge with steel bearings.

공동주택 건축기계설비의 설계하자 개선방안에 관한 연구

천창현,양정훈,권혁민 대한건축학회지회연합회 2015 대한건축학회연합논문집 Vol.17 No.1

공동주택 건축기계설비 하자는 시공상 발생되는 하자와 설계시에 발생되는 하자로 분류되며 보통 10~15% 정도가 설계하자로 분류된다. 시공상 발생되는 하자는 일반적인 방법으로 수정에 의해서 비교적 간단히 해 결될 수 있는 하자가 대부분으로 판단된다. 그러나 설계하자의 경우 발생빈도는 낮지만 하자가 발생되면 시 스템적으로 큰 문제로 연관되므로 건축물에 미치는 영향과 재시공상의 경제적 손실이 크므로 하자발생을 미 연에 방지하고자 설계단계부터 하자 발생 원인을 분석하여, 건축설비 하자에 대한 근본적인 개선방안을 모 색하고자 하는 것이 본 연구의 목적이다. 따라서 본 연구에서는 근본적인 설계하자 예방을 위해서 기존 문헌 고찰을 통해서 설계하자를 분석하였고, 실사례조사에서 공동주택 건축기계설비하자에서 설계하자를 분류하 여 가장 발생빈도가 많은 11개 항목으로 설계자를 대상으로 하자에 대한 인식, 하자발생원인, 하자예방 개선 방안 등 설문을 실시하였다. 하자발생의 주원인으로 납품시간 부족이 75명 중 39명(52%), 전문지식부족 및 경험부족이 15명(20%) 등이었고, 하자 개선방안으로는 충분한 설계시간 확보가 75명 중 40명(53%), 타 공정 과 긴밀한 협의가 15명(20%) 등이었다. 공동주택 건축기계설비 설계하자 개선방안을 분석한 결과 공동주택 건축기계 설계업의 구조적, 환경적으로 문제점들이 내재되어 있는 것으로 파악되었다. 문제점으로는 설계자들의 하자에 대한 인식의 문제, 영세한 설계업계의 구조적 문제, 기계설비 전문교육기관 부재의 환경적 문제점으로 함축되었다. 위의 문제점들을 개선하는 것이 설계하자를 줄 일수 있는 근본적인 방법으로 제도적 개선방안을 제시하면 다음과 같다. 첫째, 정확한 설계 매뉴얼 및 지침서의 정립 둘째, 분리발주를 의무화하여 적절한 설계비 투입 셋째, 전문교육을 받을 수 있는 교육의 장이 마련 Defects of the mechanical system in multi-family residential building can be classified into two categories: construction defect and design defect which accounts for 10-15percent. The construction defect can easily be resolved by simple or moderate repair work. However, even though the risk of incidence is low, the design defect, in general, result in the systematic problems, which influences the building and causes the economic losses of re-construction. Analyzing the causes of defects from design phase, this study aimed to find out the measures for fundamental improvement of the mechanical system defect of building and to prevent the occurrence of defects. The design defect was first analyzed through literature review and classified by case studies. Using a questionnaire with 11 items of high frequency incidences, the survey was administered to mechanical system designers asking their opinions on recognition, causes and improvement of defects and so on..The main reasons of defect occurrence were lack of time(52%, 39 of 75 responses) and specialized knowledge and experience(20%, 15 of 75). The measures for improvement that the respondents answered were having enough time(53%, 40 of 75) and close collaboration in all divisions throughout the entire construction processes(20%, 15 of 75). Results of the present study revealed that there were inherent problems with business environment and structure of building mechanical system design. This study suggests the institutional measures for improvement in order to reduce the design defect may include the establishment of accurate design manual and guideline, investment in proper design with mandatory separate orders and development of specialized training program and education venue.

일본 애니메이션 〈신세기 에반게리온〉으로 본 메카닉 디자인의 정체성 분석

이종한(Lee, Jong-Han),유사첩(Liu, Si-Jie) 한국만화애니메이션학회 2018 만화애니메이션연구 Vol.- No.50

일본의 메카물 애니메이션은 전 세계 범위에서 널리 알려져 있고 유명한 작품들이 많이 있다. 1952년 , 일본 최초의 메카닉 애니메이션이며 최초의 TV 애니메이션인 〈우주소년아톰〉은 탄생한 후부터 긴 세월에 걸쳐 지금까지 인기가 있다. 아톰은 한 시대의 코드로서 많은 사람에게 영향을 주었다. 일본 메카닉 애니메이션은 자신만의 독특한 특색과 세계관을 대중에게 전달하고 있다. 본 논문은 일본 90년대에서부터 지금까지 폭발적인 인기를 얻고 있는〈신세기 에반게리온〉메카닉 디자인을〈기동전사 건담〉과 비교분석을 통해 일본메카닉 디자인의 변화를 알아보고자 함에 있다. 이런 분석 결과는 애니메이션에 반영된 일본 문화와 사상을 알려 줄 것이며 이는 애니메이션의 문화반영을 보여주는 좋은 사례가 될 것이 기대한다. 〈신세기 에반게리온〉은 1995년에 상영한 후 일본 애니메이션계에 예상치 못한 영향을 주었으며 지금까지도 이를 재해석하고 분석하는 사람들이 끊임없이 나오고 있다. 이는 작품 자체가 가지고 있는 미스테리와 끝나지 않은 결론을 예상하기 위한 관객들의 반응이라 할 수 있다. 그런 특징을 반영하듯 에반게리온의 디자인에도 다른 메카물과 차별되는 디자인적 요소들을 찾아볼 수 있다. 인체 생명공학을 기반으로 한 메카닉 디자인은 기계라는 한계성을 극복하고 더욱 인간다운 모습을 느낄 수 있도록 한다. 인간 본성을 담을 수 있는 파일럿의 탑승구조는 엔터리 플러그라는 형식으로 강화되었고, 전굴 자세는 꼿꼿한 로봇이 아닌 인간다움을 더 부각시킨다. 이렇듯 〈신세기 에반게리온〉은 인간의 정체성을 반영할 수 있는 메카닉 디자인을 추구하고 있다. 80년대의 메카닉 애니메이션으로 〈건담〉을 뽑을 수 있는데, 90년대의 〈신세기 에반게리온〉이 이를 전혀 다른 디자인으로 보여주고 있다. 그러므로 두 작품의 메카닉 디자인을 비교해봄으로써 작품의 메시지와 디자인의 상관관계를 살펴 본다. 〈신세기 에반게리온〉에서 메카닉 디자인의 정체성과 작품 내용의 밀접한 관계를 제시한다. 향후 메카닉 디자인에게 좋은 사례 및 이론적인 바탕이 될 수 있음을 시사하려고 한다. Japan"s mechanic animation is widely known throughout the world. 1952년, Japan"s first mechanic animation and the first TV animation, 〈Mighty Atom〉, has been popular since it"s creation in 1952. Atom, a big hit at the time, has influenced many people. Japanese mechanic animations convey their unique traits and world view to the public In this paper, we are going to discuss the change of the Japanese mechanical design through comparison of the <Neon Genesis Evangelion> mechanical design, which has been booming since the 1990s in Japan; and the 〈Mobile suit Gundam〉. I expect the results of this analysis to depict Japanese culture and thought reflected in animation, which is a good indication of worldwide cultural view of animation. 〈Neon Genesis Evangelion〉 unexpectedly influenced the Japanese animation industry after it screened in 1995, and there are still people constantly reinterpreting and analyzing it. This is the reaction of the audience to anticipate the mystery and endless conclusions of the work itself. The design elements of Evangelion are distinguished from other mechanical objects. Mechanic design based on human biotechnology can overcome limitations of machine and make you feel more human. The pilot "s boarding structure, which can contain human nature, is reinforced in the form of an enterprising plug, and the attitude of excavation makes humanity more prominent than a straight robot. Thus, 〈Neon Genesis Evangelion〉 pursues a mechanic design that can reflect human identity. 〈Gundam〉 can be selected as the mechanic animation of the 80"s, and the "Neon Genesis Evangelion" of the 90"s shows it with a completely different design. By comparing the mechanical design of two works, therefore, we examine the correlation between the message and the design of the work. 〈New Century Evangelion〉 presents the close relationship between the identity of the mechanical design and the contents. I would like to point out that mechanical design can be a good example and theoretical basis for the future.

패드 마모 균일성 향상을 위한 CMP 컨디셔닝 시스템설계 변수 연구

박병훈,박범영,전언찬,이현섭 한국트라이볼로지학회 2022 한국트라이볼로지학회지 (Tribol. Lubr.) Vol.38 No.1

Chemical-mechanical polishing (CMP) process is a semiconductor process that planarizes a wafer surface using mechanical friction between a polishing pad and a substrate surface during a specific chemical reaction. During the CMP process, polishing pad conditioning is applied to prevent the rapid degradation of the polishing quality caused by polishing pad glazing through repeated material removal processes. However, during the conditioning process, uneven wear on the polishing pad is inevitable because the disk on which diamond particles are electrodeposited is used. Therefore, the abrasion of the polishing pad should be considered not only for the variables during the conditioning process but also when designing the CMP conditioning system. In this study, three design variables of the conditioning system were analyzed, and the effect on the pad wear profile during conditioning was investigated. The three design variables considered in this study were the length of the conditioner arm, diameter of the conditioner disk, and distance between centers. The Taguchi method was used for the experimental design. The effect of the three design variables on pad wear and uniformity was assessed, and new variables used in conditioning system design were proposed.

Mechanical characteristics and experimental research of a flexible rope-sheave hoisting mechanism

Shufeng Tang,Renjie Huang,Guoqing Zhao 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.7

Owing to such advantages as long transmission distances and compact structures, flexible rope-sheave lifting mechanisms are important for applications in disaster relief, emergency treatment, high-altitude operations, and robot transmission. Despite their long research history and wide range of applications, the mechanical properties of the interactions between flexible ropes and sheaves have been investigated by few studies, most of which rely on experience and experimental test results for design. The present study developed a mathematical model for the mechanical characteristics of a hoisting mechanism that was composed of a sheave with gear teeth, pressure wheels, and a flexible rope. The critical value for the hoisting mechanism’s slippage was analyzed, and the parameters that affected the lifting performance, such as the sheave groove angle and gear teeth, were simulated and optimized. The results were consistent with the experimental test data. The optimized rope-sheave lifting mechanism was further applied to the design and development of rope-climbing robots, and its lifting performance was experimentally tested. The research results presented in this paper described the mechanical characteristics of the flexible rope-sheave lifting mechanism, combined the mechanical model with the optimized design, and verified them through experiments;this provided guidance for more precise and quantitative applications of flexible rope-sheaves.

공리적설계를 이용한 휴대폰 슬라이드 기구의 스파이럴 스프링 설계

황은하 ( Eun-ha Hwang ),한덕희 ( Deok-hee Han ) 한국산업융합학회 2007 한국산업융합학회 논문집 Vol.10 No.3

It is well known that mobile phones have been a indispensable communication tool for human life. The spiral springs are used as the main component of the semi-auto sliding mechanism of mobile phones. The characteristic of axiomatic approach is scientific and analytical method, and axiomatic approach is different from other design methods in offering the systematic method at an early stage of design. The axiomatic approach could determine design parameter and arrange the order of design and estimate the optimum design in good order. In axiomatic approach, the composition is divided by customer requirement, functional requirement, design parameter, and design matrix in large portion. This paper presents design in sliding mechanism for mobile phones by finite element method and axiomatic design.

기계공학 설계교육에 대한 학생들의 인식 연구

강소연(So Yeon Kang),조형희(Hyung Hee Cho),박찬일(Chan Il Park) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12

This paper looks at how students majoring the mechanical engineering perceive the satisfaction of their freshman engineering design course and capstone design. The results of this study show that the satisfaction of the freshman engineering design course is much lower that of the capstone design. The freshman students feel overwhelmed by the pace and load of freshman design course, though they cannot have interest and motivation on engineering. The engineering faculty and engineering education research center need to develop freshman design course contents and new structures to increase the quality of engineering freshman design education.

A study on the transmission-tribology design based on existing problem of the gear drive and tribology

Sung-Ki Lyu,Long Lu,Yun-Long Wei 한국정밀공학회 2006 International Journal of Precision Engineering and Vol.7 No.2

We propose a new concept of transmission-tribology design based on the investigation of development and existing problems of the gear drive and tribology. The content of transmission-tribology and transmission-tribology design is probed. Some effective methods of transmission-tribology design is probed. Some effective methods of transmission-tribology design are putforward. Partial achievements in this research are introduced tersely. Mechanical transmission, which is represented by the gear drive, and tribology are two main branches of mechanical engineering. They have their own definite research field. In recent years, we have been doing our utmost to suggest combining mechanical transmission-tribology and transmission-tribology design. Partial achievements in this research area are obtained.