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Development of an Anthropomorphic Robot Hand with Size and Motion Range Identical to a Human Hand
강형석,신동헌 한국정밀공학회 2013 International Journal of Precision Engineering and Vol. No.
The anthropomorphic robot hand with the linear actuators consisting of a motor and a lead screw has the stronger grasping power than the hand actuated by motors and insufficient gear reduction. This paper presents the UPS/RPS-RR parallel mechanism to use the linear actuators effectively for the robot hand. It enables us to get the forward/inverse kinematic solutions, while the previous mechanism for the linear actuator failed. Since the grasping motion of the developed hand is composed of the active motion of the proximal phalange and the passive motions of the middle and the distal phalanges, the linkage mechanism is designed to make the motion range of the phalanges the same as that of a human hand. Then, all the phalanges of each finger are bent gradually in the whole motion range from a completely opened hand to a closed hand as a human hand does. This robot hand has four fingers including a thumb. Each finger has 2-DOF and each proximal phalange is actuated by two linear actuators. The palm itself has 2-DOF to make the motion of the thumb and the small metacarpi similar to the natural palm arch of a human hand. Finally, instead of using specially manufactured actuators, the usage of commercial store-bought actuators enables our hand to be a cheaper candidate for the educational robot hand.
내부유체를 가진 Pin Fin의 최적화 (고정된 핀 체적 기준)
강형석 江原大學校 産業技術硏究所 2009 産業技術硏究 Vol.29 No.B
A cylindrical pin fin with inside fluid is optimized based on fixed fin volume by using the one dimensional analytic method. Heat loss from the fin and the pin fin radius for fixed fin volume is presented as a function of the fin length. Temperature variation of the fin with the variation of ambient and inside fluid convection characteristic numbers and fin base thickness is listed. The maximum heat loss at the practical fin length and corresponding optimum fin length and radius are presented as a function of fin base thickness, inside convection characteristic number, fin volume and ambient convection characteristic number. One of the results shows that the optimum pin fin shape becomes relatively fatter as the fin volume increases.