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임홍석(Lim, Hong-Seok),유홍희(Yoo, Hong-Hee) 한국소음진동공학회 2006 한국소음진동공학회 논문집 Vol.16 No.3
This paper presents the dynamic analysis of an impulsively forced rotating cantilever beam with rigid body motion. The transient response induced by the impulsive force and the rigid body motion of the beam are calculated using hybrid deformation variable modeling with the Rayleigh-Ritz assumed mode methods. The stiffness variation effect due to the rigid body motion of the beam is considered in this study Also, the effects of the impulsive force position and the angular velocity on the transient responses of the beam are investigated through numerical works
무대 공연이 가능한 대형 줄 인형 로봇 기구 시스템 설계
임홍석(Hong Seok Lim),조민수(Min Su Cho),최순영(Soon Young Choi) 대한기계학회 2012 大韓機械學會論文集A Vol.36 No.10
줄 인형은 인형에 연결된 줄을 당겨 여러 동작을 구현하는 인형이다. 이러한 줄 인형은 사람의 손으로 조작하여야 하므로 인간 크기의 대형 인형으로 무대 공연을 하는 것은 불가능했다. 그러나 와이어로 연결된 구동기를 활용하여 동작하는 줄인형 로봇은 다른 로봇이나 사람과 함께 공연하는 것이 가능한 인간 크기 줄 인형으로 사용될 수 있다. 그리고 모바일 플랫폼과 구동기, 줄 인형 로봇이 장착된 모바일 스테이지를 사용하여 이 논문에서 설계된 대형 줄 인형 로봇 시스템은 별도의 무대 장치 없이도 무대 위 자유로운 이동과 회전이 가능하도록 하였다. 설계된 줄 인형 로봇 구동기 구조의 타당성은 동역학 해석을 활용하여 검증하였고 줄 인형 로봇 시스템의 효용성과 안전성은 실제 로봇을 제작하고 구동시켜 검증되었다. A marionette is a moving puppet that can be made to perform several actions by pulling wires connected to the puppet. Because a marionette is operated by hand, a stage performance with a human-sized marionette is impossible. However, a marionette robot operated using a wire controller could be used as a human-sized marionette to conduct a stage performance with other robots or actors. In addition, by using mobile stages that utilize mobile platforms, a wire controller, and the marionette robot body, the large marionette robot system designed in this study can be made to rotate and translate freely in a stage performance. The feasibility of the structure of the marionette robot wire control system is verified by using dynamics analysis. Furthermore, the efficiency and safety of the robot is demonstrated by manufacturing and operating a prototype robot.
임홍석(Hong Seok Lim),조민수(Min Su Cho),최순영(Soon Young Choi) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
A marionette is a moving puppet which several actions implement pulling wire to be connected to the puppet. As marionette robot operate robot by using wire controller, it is possible operation of the human-sized marionette robot and to do a stage performances with other robot or actor. This paper carrying out dynamic modeling and simulation of the robot to control movement of designed large-size marionette robot system. As operating characteristics of robot mechanism according to operation sequence of wire controller and pulling speed of wire, this results use in the development of control algorithms in the future. Also, the structures of marionette robot wire control system are verified the feasibility by using dynamics analysis. And the analyzed operating characteristics of marionette robot are proved by the manufacturing and operating the robot.
임홍석(Hong Seok Lim),유홍희(Hong Hee Yoo) 대한기계학회 2005 대한기계학회 춘추학술대회 Vol.2005 No.5
This paper presents the impact analysis of a rotating cantilever beam. The transient response of the rotating beam induced by the impact is calculated based on hybrid deformation variable modeling method by applying the Rayleigh-Ritz assumed mode method. The stiffness variation effect caused by the rigid body motion is considered in this modeling. The effects of the impact position, impact coefficient and the angular velocity on the transient responses of the beam are investigated through numerical studies.