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최명환(Choi Myoung Hwan),김영진(Kim Young Jin) 강원대학교 산업기술연구소 2001 産業技術硏究 Vol.21 No.1
In this work, we have developed a 2 degrees of freedom(DOF) motion simulator that can generate the sensation of motion in a 6 DOF space. The motion base has the DOF of roll and pitch, and the purpose of the motion base is to create the sensation of riding a vehicle in a 3D space by controlling the motion base. The dynamics of the mechanism was analysed and the optimal design of the motion base mechanism has been reached. The prototype motion base mechanism was developed and tested. The multi-axis motion controller(MMC) was used to control the two AC servo meters that drive the roll and pitch motion.
Minimum Link Lengths Computation of Violin Bow Playing Robot Arm Using Kinematic Analysis
Myoung Hwan Choi(최명환) 대한전기학회 2022 전기학회논문지 Vol.71 No.1
For a violin playing robot to be successful as an entertainment robot it needs to portray the image of a human arm playing the violin. Hence it is desired that the robotic manipulator has an articulated structure similar to the human arm. Since shorter link lengths result in smaller link weight, smaller actuator size/weight, and thus fast motion capabilities of the manipulator, it is crucial to determine the minimum link lengths of the manipulator. This paper presents a computation method of the minimum link lengths required for the bow motion and the kinematic design of the violin bow playing robot arm. The workspace of the bow playing arm is analyzed using the geometric dimensions of the bow and the violin bridge. The bow frog motion paths are computed for four violin strings. It is shown that a planar RRR mechanism can generate the motion required for violin bow playing robot, and the minimum link lengths of the manipulator are found that result in the robot workspace encompassing the bow frog motion paths and that avoids the singularities in the robot motion path.
JRTR 제어봉구동장치의 구조건전성 평가를 위한 내진시험
최명환(Myoung-Hwan Choi),김경호(Gyeong-Ho Kim),선종오(Jong-Oh Sun),조영갑(Yeong-Garp Cho) 한국소음진동공학회 2016 한국소음진동공학회 학술대회논문집 Vol.2016 No.4
A control rod drive mechanism is a reactor regulating system, which inserts, withdraws or maintains a control rod containing a neutron absorbing material within a reactor core to control the reactivity of the core. The top-mounted CRDM for Jordan Research and Training Reactor has been designed and fabricated based on the HANARO’s experience. This paper describes the seismic test results to evaluate the structural integrity of CRDM drive assembly. The tests are carried out at two test rigs simulating the upper part of reactor pool. The seismic test results show that the CRDM maintains the function and structural integrity without changes of natural frequencies before and after 5 OBE and 1 SSE load excitations. Also, the stepping motor during the OBE load is driven having a good stepping performance without a malfunction.