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임승철(Seungchul Lim),고인환(Inhwan Ko) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
This paper is concerned with development and application of a new sensor system to detect the so-called ZMP (Zero Moment Point) of multi-legged robots including bipeds. The proposed system consisting of four strain gauges per leg enables to locate the point of contact (or equivalent contact, more generally) each foot makes with terrain. Such information is in turn collected to yield the ZMP position via a digital algorithm. The relevant theoretical background is established. Besides, the issues on what and how to do are also addressed if FSRs (Force Sensing Resistors) are used for the same purpose, and tipping moment occurs. In conclusion, the proposed ZMP sensor system is regarded a cost-effective and promising means to assist robots to carry out desired gaits maintaining stability.
임승철(Seungchul Lim),고인환(Inhwan Ko) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
This paper is concerned with computer simulations of a biped robot walking in dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a kinematically ingenious design. Specific walking patterns are off-line generated meeting stability based on the ZMP condition. Subsequently, to verify whether the robot can walk as planned, a multi-body dynamics CAE code has been applied to the corresponding joint motions determined by inverse kinematics. In this manner, complex mass effects could be accurately evaluated for the robot model. As a result, the key parameters to successful gaits are identified including inherent characteristics as well. Also, joint actuator capacities are found required to carry out those gaits.
고정자의 유연성을 고려한 유체베어링 지지 HDD 스핀들 계의 진동해석
임승철(Lim, Seungchul),전상복(Chun, Sang-Bok),한윤식(Han, Yun-Sik),이호성(Lee, Ho-Seong),김철순(Kim, Cheol-Soon) 한국소음진동공학회 2005 한국소음진동공학회 논문집 Vol.15 No.6
This paper presents vibration analyses of hard disk drive (HDD) spindle systems based on the finite element method. The systems under investigation have a cantilevered shaft rotating on hydrodynamic bearings. In particular, the influence of stator's flexibility on major modes has been taken into account in dual ways lumped and distributed-parameter model approfches. Even the latter employs relatively macroscopic elements instead of extremely fine ones Popular in commercial codes. In order to prove the effectiveness of such formulated models, two types of HDD prototypes featuring different hub and stator structures are selected as examples. Compared to the first, the second type has a reinforced stator that would raise the natural frequency of the hub's translational (or sideway) mode. Both free and forced vibration characteristics are computed, and subsequently compared with the experimental data. It is our conclusion that Particularly the Proposed distributed model method is an efficient design tool for state-of-the-art HDD spindle systems.
ER 유체를 이용한 회전식 약실 축계의 비틀림 진동 제어
임승철(Seungchul Lim),김기갑(Kikap Kim),길성진(Seongjin Kil),심정수(Jeongsoo Shim),차기업(Kiup Cha) 대한기계학회 2011 大韓機械學會論文集A Vol.35 No.1
간헐 회전식 약실 계가 화력 대 무장 공간의 비율 관점에서 볼 때 중구경 자동포에 크게 유익하다고 보고되었다. 그러나 약실계의 핵심 부품인 평행 인덱스가 인덱스 터릿에 설치되는 캠종동절의 상대적으로 낮은 횡 강성으로 인하여 비틀림 방향으로 유연해지는 경향이 있으며, 이는 결국 터릿과 약실 사이의 연결 축이 상당한 크기의 비틀림 잔류 진동에 노출되어 탄 장전과 발사 시에 심각한 비정렬 문제를 야기시킬 수 있다. 이러한 맥락에서 본 논문에서는 상기 진동을 억제하는 ER유체 작동기와 그에 적합한 반능동 제어 알고리듬을 제안하게 되었으며, 전체 계의 수학적 모델링과 컴퓨터 시뮬레이션을 통하여 그 성능이 만족스러움을 입증하였다. It is reported that an intermittently rotating chamber system will improve the ratio of firepower to armament space in the case of mid-calibre automatic guns. However, the parallel index, which is a main component of the system, tends to be torsionally flexible due to the low lateral stiffness of cam followers on the index turret. This may cause the shaft system connecting the turret with the chamber prone to considerable residual torsional vibration so that serious misalignment problems occur during ammunition loading and firing processes. Herein, an electrorhelogical (ER) fluid actuator that can suppress such vibrations and the associated semiactive control algorithm are proposed. By mathematical modeling and computer simulations, the performance of the entire system is proved satisfactory.