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- 저자 : 조선휘 (검색결과 33 건)
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장애물 회피를 위한 로봇 매니퓰레이터의 경로계획에 관한 연구
조선휘,류길하 대한기계학회 1991 대한기계학회논문집 Vol.15 No.1
본 연구에서는 로봇이용의 자동화를 위하여 가장 필수적인 과정인 로봇의 운 동경로 계획에 관하여 연구하고 작업영역 내에 장애물이 있는 경우에 로봇과 장애물과 의 충돌 회피를 위한 정량적인 양으로 두물체간의 최소거리 및 충돌깊이를 효율적으로 계산할 수 있는 방법을 제안하며 이를 이용하여 로봇이 장애물과 충돌하지 않고 주어 진 작업을 수행할 수 있는 로봇의 경로를 자동으로 생성함으로써 로봇을 보다 상위레 벨에서 운용하기 위한 기초를 마련한다. Future generation of robots will be considerably more autonomous than present robotic systems. The main objective of research on theoretical problems in robotics is to endow robotics system with basic capabilities they will need to operate in an intelligent and autonomous manner. This paper discusses the problem of collision free movement of robot manipulator. It is formulated in path planning with obstacle avoidance expressed in the term of the distance between convex shapes in the three dimensional space. The examples are given to illustrate the main feature of the method.
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조선휘,박종근 한국자동차공학회 1981 오토저널 Vol.3 No.2
In this paper, it was attempted to verify how the strength around fillet area of shifted gear would be affected by variables such as number of teeth, shifted value, and diametral pitch.<br/> Thereafter, the Lewis’ tooth factor of the shifted gear was computed in terms of previously mentioned variables in order to observe the characteristics of stress change related from tooth factor and tooth number with the parameter of shifted values and diametral pitches. From the results of quasi-theoretical values by Finite Element Method (F.E.M.) and experimental values through the photo-elastic tests, the followings were identified.<br/> The more the number of gear teeth increased, the more the profile of the tooth became close to that of rack, and accordingly the stresses in the fillet area decreased significantly in certain range. Furthermore, as the shifted value and pressure angle increase the stresses tend decreSe (Fig. 1).<br/> Moreover, the stresses analyzed by F.E.M. in the filled area became around 1.22 times larger than the stresses computed by Lewis ’form factor (Tab. 3), and this is supposed as an influence of the stress concentration in fillet area.
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[論文] 平板內의 直線 Crack tip 에서의 應力擴大係數에 關한 硏究
조선휘,조희복 한국자동차공학회 1982 오토저널 Vol.4 No.1
In this paper, the stress intensity factors at the crack tips in a finite plate having a straight crack with arbitrary lengths and directions are analyzed by means of Boundary Collocation<br/> Method in Cartesian coordinates under the following two cases.<br/> A) Case of only considering stress components at the boundary collocation points<br/> B) Case of considering the stress resultant at the boundary, in addition to case of (A) and analyzed by means of F. E. M.<br/> To certify the Boundary Collooation Method, the solutions of B. C. M. are compared with the solutions of F. E. M. and M.lsida on the infinite plate.<br/> Consequently, B. C. M. demonstrates the simplicity of input data preparation and the reduction of cpu time against F. E.. M.
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조선휘,김기식,김영진 대한기계학회 1991 대한기계학회논문집 Vol.15 No.2
Determining the motion using optimal technique about traveling time and trajectory planning has been studied often in recent years, but the study of determining the optimal robot dimensions is rare, the authors attempt to find out the least driving torques and energy as the optimization of link length ratio referred to 2R SCARA and 3R robot manipulators. For the given linear path with triangular velocity profile, the inverse kinematic and dynamic problems are examined in order to lead into solution of problem, which is suggested for optimal design of link lengths. Accordingly, optimal link length ratio is obtained with respect to each case.
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조선휘,김영일,임태홍 대한기계학회 1986 대한기계학회논문집 Vol.10 No.5
본 연구에서는 일반 관성행렬 방법을 이용하여 일반적인 다관절 링크 로봇 매 니퓰레이터의 구동 토오크를 구하고 작업 영역 내에서 두 점 사이를 이동할 때 걸리는 구동 토오크를 최소화하는 최적 조인트 운동에 대한 해를 Rayleigh-Ritz의 방법으로 얻도록 시도하였다. In this paper, it is attempted to derive the minimum torque as the optimal value on each joint, which is applied during a PTP-motion in the range of working area of a supposed industrial robot. The rupposed industrial robot consits of 3-R joints prepared on three links, The optimizational analysis is performed by the formulation of a variational calculus process due to Rayleigh-Ritz method. That is, the torques of the inverse dynamic problem on joints in a arbitrary positions are computed by a generalized inertia matrix method.
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조선휘,박종근,한성현 대한기계학회 1994 대한기계학회논문집 Vol.18 No.6
Elasto-dynamic deformation of flexible linkage mechanism was analyzed using the finite element method. A computer program was constructed and applied to analyze a specific crank-level 4-bar mechanism, in which the elasto-dynamic deformation of the mechanism system was obtained using mode superposition method in the case of constant input speed and the effect of geometric stiffness on the mechanism is included. Experimental verification of numerical results was conducted by measuring the elasto-dynamic deformation of mid-points of coupler and lever for the 4-bar lingkage mechanism using high speed camera and image data processing systeem. For the elasto-dynamic deformation at the lever mid-point, the numerical results including geometric stiffness almost agree with the experimental ones. However, the numerical results excluding geometric stiffness good agree with the experimental ones at the couper mid-point.
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회전대우를 갖는 1자유도 평면기구의 기구합성에 관한 연구
조선휘,신동원 대한기계학회 1993 대한기계학회논문집 Vol.17 No.6
본 연구에서는 회전대우(revolute joint)들로 이루어진 1자유도 평면기구들의 특성을 파악하고 그래이프이론(graph theory)을 이용하여 기구의 형태를 행렬로 표시 하여 체이터베이스에 저장하였다. 또한 기구의 특성중의 하나인 작업조건(function specification)에 따른 무오차점(precision point)의 최대 개수를 알아내는 프로그램 을 개발하여 이로써 얻은 정보를 또 다른 데이타베이스에 저장하였다. 이와같이 구축 된 데이터베이스들로부터 설계자의 요구에 적합한 기구를 선택하여 형태합성 문제를 해결하였다. The kinematic synthesis deals with the systematic design of mechanisms for a given performance. The area of synthesis may be grouped into two categories to determine the type and to size the dimensions of a mechanism for a specified task. In this paper, using a database of mechanisms a designer can determine the type of mechanism conveniently and design equations are automatically generated for a given input performance. The solving method of design equations utilizes an optimization routine to obtain roots effectively. The linkages of 4, 6, and 8bars with revolute joints are considered in this study but may be extended to linkages of more bars.
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