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김희국 ( W. K. Kim ),김민곤 ( M. G. Kim ),홍대희 ( D. H. Hong ),강대임 ( D. I. Kang ),박연규 ( Y. K. Park ) 한국감성과학회 1999 추계학술대회 Vol.1999 No.-
콤플라이언스는 인간의 촉감에 관계된 주요한 기계적 성질중의 하나이다. 물체의 콤플라이언스가 효과적으로 제시되는 경우 인간에게 보다 현실적인 물체의 가상촉감을 제공할 수 있을 것이다. 그러므로, 본 연구에서는 마찰을 최소화하기 위하여 자력 부공을 이용한 오직 수직방향으로 콤플라이언스를 재현할 수 있는 콤플라이언스 에뮬레이터 시스템을 구현하였다. 구현된 시스템은 아날로그 LVDT 센서를 위치센서로 활용하며 주어진 콤플라이언스를 재현하기 위하여 중력보완을 포함한 간단한 PD 제어기법을 활용하였다. 시스템에 의해 재현된 콤플라이언스의 범위는 제한됨을 보였는데 이를 보완하기 위하여 다양한 크기의 강성을 가지는 스프링을 시스템에 추가로 부착하는 방법을 활용하였으며 이러한 방법의 적합성을 실험을 통하여 확인하였다.
이석희(S. H. Lee),조한석(H. S. Cho),허종규(J. K. Heo),이정헌(J. H. Lee),김희국(H. K. Kim) 한국정밀공학회 2005 한국정밀공학회 학술발표대회 논문집 Vol.2005 No.10월
In this study, a car-door-controlled collision protection system using proximity sensor is proposed and its preliminary analysis and several preliminary experiments are conducted. The proposed system has three additional sub-components on the car-door : that is, a pair of extra electro-magnetic actuator that are attached to the sliding bar of the open/close car-door four-bar mechanism, a proximity sensor that would be attached to the outside surface of the door which is likely to frequently contact to the object and a driving control circuit of the whole system. A proximity sensor is used to detect object close to the car-door, the driving control circuit provides actuating power command to the electro-magnets to generate braking force to stop the swing motion of the car-door. It is verified through kinematic analysis of the four-bar car-door open/close mechanism and through experiments that the magnitude of maximum electronic magnetic force could provide the braking force enough for this application. For this purpose, an electro-magnet driving circuit is implemented and tested. And also to increase the safety of the system a time delay circuit is implemented and tested.
이재훈(J.H. Lee),이수강(S.G. Lee),이병주(B.J. Yi),이석희(S.H. Lee),이정헌(J.H. Lee),김희국(W.K. Kim) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
In this study, a spatial 3-dof haptic mechanism is implemented. The implemented mechanism does not employ the gear transmissions as velocity reducers for all three joints but uses wire-based transmissions, thereby it is able to minimize the frictions significantly. Also, by employing the structure of the four-bar mechanism to drive third joint from close to the base, the mechanism is able to minimize the inertia effect from the third actuator very effectively. Its kinematic analysis such as position and velocity analyses are performed first. Then, its operating software development, hardware implementation, and the related interfaces between a PC and the implemented Haptic device are completed. To evaluate its potential and its performance as a haptic device, a experiment generating a virtual constraint in a operational task space is conducted and preliminary results are discussed.
스튜워트 플랫폼 구조를 이용한 병진 3-자유도 병렬 메커니즘의 기구학 특성 분석
이석희(S. H. Lee),김희국(W. K. Kim),이병주(B. J. Yi) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
A novel translational 3-dof parallel mechanism is proposed and analyzed. The mechanism consists of three RRPS serial subchains and an additional passive 3-dof PPP type serial subchain. Three RRPS serial subchains alone may form a structure of the 6-DOF Stewart Platform mechanism. However, in the proposed mechanism, an additional passive serial subchain acts as constraints to restrict the output motion of the mechanism in 3-DOF translational space. The closed form position solutions of the proposed mechanism and its first-order kinematic model are derived. Then its workspace size and kinematic characteristics are examined via kinematic isotropic index.