This paper presents a prototype of a three degree of freedom mannequin simulator for rehabilitation education. A three degree of freedom (shoulder 2, elbow 1) model which is similar to the human body is developed. In addition design of mathematical model with consideration about the resistance of muscles and ligaments is proposed. To apply ROM inspection method to the mannequin simulator, this paper introduces the PID controller of the mannequin simulator prototype with the ROM inspection method. Rehabilitation specialists verify the mannequin simulator with the ROM test method, and the validation experiments show that the simulator has “good” levels of similarity.

미세 위치제어를 위한 미세 산업용 로봇의 작업물의 정도 보정을 위해 마이크로 조정기가 고안되었다. 피에조전기 엑추에이터를 이용한 능동 메커니즘을 증폭시키기 위한 메커니즘 설계는 위상 최적설계와 형상 최적설계의 진일보를 위해서 기하학적으로 구조적으로 둘 다 필요하다. 메커니즘의 총괄적인 기하학적 장점과 기계적 효율이 객관적성능으로서 고려되었으며, 이는 입력의 힘분에 출력의 변위, 지지발의 수직 운동과 조정기의 구조 강성의 각각의 비이다. 이들 목적함수를 최대화하기 위하여, 순차 선형 프로그램최적 기준법이 위상 재료 분포, 능동 구조물과 굽힘힌지의 기하학적 차원을 위해 사용되었다. 이 연구는 메커니즘의 능동성을 최대화 할 뿐 아니라, 위치도의 정확도와 충분한 작업공간을 보장하는 종합적 설계 공정을 보여준다. 실험은 역학적, 구조적 성능의 비교를 통해 설계공정을 유효화하기 위해 시행되었다

This paper presents cable-hydraulic driven 3DoF (Degree-of-Freedom) manipulator for cooperative robot with high output/low inertia and enhancing lager workspace of hydraulic manipulator. Hydraulic actuation could be solution to design more higher output manipulator than the one of electric motor actuation due to install actuation source and robot joint separated. In spite of this advantage, the conventional hydraulic driven manipulator using cylinder or vane actuator is not suitable for the candidate of cooperative robot because smaller workspace owing to small RoM (Range of Motion) hydraulic actuator. In this paper, we propose 3DoF manipulator with cable-hydraulic actuation which is more larger ratio of payload-to-weight than the one of conventional cooperative manipulator and larger workspace than the one of existing hydraulic driven manipulator. The performance of proposed manipulator was demonstrated by the experiments for confirming overall workspace task, high payload operation task under worst situation and comparing repeatability between developed manipulator and existed cooperative robots. The results of experiments showed that the appropriate performance of proposed manipulator for cooperative robot.

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

Two novel parallel mechanisms (PMs) employing two or three PaPaRR subchains are suggested. Each of those two PMs has translational 3-DOF motion and employs only revolute joints such that they could be adequate for haptic devices requiring minimal frictions. The position analyses of those two PMs are conducted. The mobility analysis, the kinematic modeling, and singularity analysis of each of two PMs are performed employing the screw theory. Then through optimal kinematic design, each of two PMs has excellent kinematic characteristics as well as useful workspace size adequate for haptic applications. In particular, by applying an additional redundantly actuated joint to the 2-PaPaRR type PM which has a closed-form position solution, it is shown that all of its parallel singularities within reachable workspace are completely removed and that its kinematic characteristics are improved.

Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a new robotic lamp that creates three degrees of freedom (DOF) motion by using a spherical-type parallel mechanism with a unique forward kinematic position. In the robotic lamp, three motors are placed at the base frame to control two tilting angles and one zoom in-and-out motion for a localized light. The kinematic model of this device is derived and the proto type has been developed. The performance of this device was verified through experiment.

This work proposes structure of spring backbone micro endoscope. For effective surgery in narrow and limited space, many manipulators are developing that different to existed structure. This device can move like elephant nose or snake unlike the existing robots. For this motion, a mechanism that uses spring backbone and wires has been developed. The new type endoscope that has Z axis motion for spring structure, therefore it has 3 degree of freedom, two rotations and one linear motion. And new kinematics for backbone structure is proposed using simple geographic analysis. The Jacobian and stiffness modeling are also derived. Exact actuator sizing is determined using stiffness model. Finally, the proposed kinematics are verified by simulation and experiments.