• Title/Summary/Keyword: Joint Module

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Joint and Link Module Geometric Shapes of Modular Manipulator for Various Joint Configurations (다양한 관절 구성을 위한 모듈라 매니퓰레이터의 관절 및 링크 모듈 형상 도출)

  • Hong, Seonghun;Lee, Woosub;Lee, Hyeongcheol;Kang, Sungchul
    • The Journal of Korea Robotics Society
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    • v.11 no.3
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    • pp.163-171
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    • 2016
  • A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.

Development of a Snake Robot for Unstructured Environment (비정형 환경에 적용하기 위한 뱀 로봇 개발)

  • Shin, Hocheol;Kim, Chang-Hoi;Lee, Heung-Ho
    • The Journal of Korea Robotics Society
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    • v.8 no.4
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    • pp.247-255
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    • 2013
  • This paper shows the development of a snake robot (KAEROT-snake V) which consists of 16 1-DOF actuator modules and head module. The modules are connected serially and the joint axis of each module is rotated by $90^{\circ}$ with respect to the previous joint so that the snake robot can move in the 3D space. A tail actuator module includes slip-ring and metal connector. KAEROT-snake IV developed in prior research could move in the 3D space and climb up in a narrow pipe. But its design was not appropriate to the unstructured tough environment and its speed was somewhat slow. A new actuator module is designed to enclose all parts of the module so that any wire is not exposed. The size and weight of the new module was slightly reduced. And the rotation speed and torque of the joint was increased by about twice when compared with pre-module. An embedded controller was developed so small that it can be mounted inside the module. The performance of the developed robot was demonstrated through various locomotion experiments.

Experimental Study of being vehicle cockpit module BSR Noise considering the deterioration condition of the module unit (모듈 단위 열화조건을 고려한 자동차용 칵핏 모듈 이음(BSR Noise)에 대한 시험적 고찰)

  • Yi, Chulhyun;Yang, Jeongmin;Cho, Jinho;Lee, Wonku;Woo, Changsu
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2014.10a
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    • pp.791-795
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    • 2014
  • In this paper, in order to impart the aging condition of the parts, by configuring the cycle of temperature from low temperature was performed by applying the aging conditions for vehicle cockpit module. The reason for the selected modules of the cockpit vehicle parts, because the joint occurrence typical components of the room component is a first module and ceiling cockpit module. After setting the excitation profile using the BSR exciter only that this is for the module degradation after the initial and grasp the change in the dynamic characteristics of the modules based on the before and after deterioration may be made in the module, grasp the noise generating position I measured the noise and proximity. Was also visualized on the position of the joint is generated using a sound camera to objective results occurring where the joint is selected through subjective evaluation.

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A Development of Servo Driver for Implementation of Hollow type Joint Module (중공형 관절 구현을 위한 서보 드라이버 개발)

  • Moon, Yong-Sun;Roh, Sang-Hyun;Cho, Kwang-Hoon;Bae, Young-Chul
    • Journal of the Korean Institute of Intelligent Systems
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    • v.20 no.6
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    • pp.843-847
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    • 2010
  • Recently, one of the most interesting issue in the intelligent robot and the industrial robot area is the design and an implementation of servo driver module based on motion network for hollow type joint module of all-in-one structure. In this paper, we designed and implemented for hollow type driver, and also verified the performance of the developed module through the experiment.

Conceptional Approach for Assembly Reconfiguration of Papering Robot Modules (선체 수직 외벽 Papering 용 로봇 모듈의 조합 최적설계의 개념적 접근)

  • Chung W.J.;Kim S.H.;Kim K.K.;Kim H.G.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2005.06a
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    • pp.2015-2018
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    • 2005
  • In this paper, we are willing to prepare the reasonable optimization, Combinatorial Optimization and Genetic Algorithm. Thus we define position status of end-effect (or terminative link module) using promised form, (G, M(G), A(G), and so on.). For this preparing step, the reorganizing procedure of Link and Joint Module is necessary, like as enumerating the kinematically identical assembly group of several links and joints. Thus, we draw a G, directed graph in a first step. Because, directed graph contains the path information between adjacent Link Module and Joint Module. From the directed graph,G, we can incite the Incidence Matrix, M(G). The incidence matrix, M(G), contains the contact information of the Link (Joint) Module and the type of Link (Joint). At the end of this paper, we generalize the modular information as a matrix form, A(G). From this matrix, we can make a population of assembly status. That is the finial output of this paper.

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Development of Machine Vision System and Dimensional Analysis of the Automobile Front-Chassis-Module

  • Lee, Dong-Mok;Yang, Seung-Han;Lee, Sang-Ryong;Lee, Young-Moon
    • Journal of Mechanical Science and Technology
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    • v.18 no.12
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    • pp.2209-2215
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    • 2004
  • In the present research work, an automated machine vision system and a new algorithm to interpret the inspection data has been developed. In the past, the control of tolerance of front-chassis-module was done manually. In the present work a machine vision system and required algorithm was developed to carryout dimensional evaluation automatically. The present system is used to verify whether the automobile front-chassis-module is within the tolerance limit or not. The directional ability parameters related with front-chassis-module such as camber, caster, toe and king-pin angle are also determined using the present algorithm. The above mentioned parameters are evaluated by the pose of interlinks in the assembly of an automobile front-chassis-module. The location of ball-joint center is important factor to determine these parameters. A method to determine the location of ball-joint center using geometric features is also suggested in this paper. In the present work a 3-D best fitting method is used for determining the relationship between nominal design coordinate system and the corresponding feature coordinate system.

Experimental research on vertical mechanical performance of embedded through-penetrating steel-concrete composite joint in high-temperature gas-cooled reactor pebble-bed module

  • Zhang, Peiyao;Guo, Quanquan;Pang, Sen;Sun, Yunlun;Chen, Yan
    • Nuclear Engineering and Technology
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    • v.54 no.1
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    • pp.357-373
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    • 2022
  • The high-temperature gas-cooled reactor pebble-bed module project is the first commercial Generation-IV NPP(Nuclear Power Plant) in China. A new joint is used for the vertical support of RPV(Reactor Pressure Vessel). The steel corbel is integrally embedded into the reactor-cabin wall through eight asymmetrically arranged pre-stressed high-strength bolts, achieving the different path transmission of shear force and moment. The vertical monotonic loading test of two specimens is conducted. The results show that the failure mode of the joint is bolt fracture. There is no prominent yield stage in the whole loading process. The stress of bolts is linearly distributed along the height of corbel at initial loading. As the load increases, the height of neutral axis of bolts gradually decreases. The upper and lower edges of the wall opening contact the corbel plate to restrict the rotation of the corbel. During the loading, the pre-stress of some bolts decreases. The increase of the pre-stress strength ratio of bolts has no noticeable effect on the structure stiffness, but it reduces the ultimate bearing capacity of the joint. A simplified calculation model for the elastic stage of the joint is established, and the estimation results are in good agreement with the experimental results.

Joint Module with Joint Torque Sensor Having Disk-type Coupling for Torque Error Reduction (토크 오차 감소를 위한 디스크형 커플링을 갖는 토크센서가 내장된 로봇 관절모듈)

  • Min, Jae-Kyung;Kim, Hwi-Su;Song, Jae-Bok
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.40 no.2
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    • pp.133-138
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    • 2016
  • Force control and collision detection for a robot are usually conducted using a 6-axis force/torque sensor mounted at the end-effector. However, this scheme suffers from high-cost and the inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, which also suffered from various errors in torque measurement. To resolve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque under consideration. This joint design also aims to reduce the stress induced during the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.