Korea Institute of Science and Technology

Seung Jong Kim

Jong Min Lee

Chang Ho Kim

Hee Soo Kim

Sung Chul Kang

Yong Bok Lee

Munsang Kim

Hosung Kong

Du Jin Bach

Chan Yul Jung

Jeong Soo Choi

Jeonghoon Yoo

Chang Hyun Cho

Kyung Geune Oh

Woo Yeon Kim

Sang Hwa Lee

Seung Kook Yun

This disclosure relates to a face robot which is operated similarly to the motion of a human head and a multi-joint manipulator which supports a robot's face, and more particularly, to a structure which may compensate an influence caused by the gravity and exerted on rotation parts rotating about its axes. A manipulator with a weight compensation mechanism of the disclosure is provided, the manipulator having rotation parts connected to a plurality of axes rotating about their axes, the manipulator including: a weight compensation mechanism that supports wires connected to the rotation parts receiving gravity in a rotation state by a spring and compensates an influence of gravity exerted on the rotation parts.

Manipulator with weight compensation mechanism and face robot using the same

An airfoil-magnetic hybrid bearing, which is a combination of a magnetic bearing and airfoil bearing includes a housing, an airfoil bearing, a magnetic bearing, coils, and a coupling segment. The housing is around a rotating shaft of a rotation device. The airfoil bearing is positioned between the housing and the rotating shaft to form dynamic pressure to levitate the rotating shaft during rotation of the rotating shaft. The magnetic bearing includes cores positioned radially between inner surface of the housing and outer surface of the airfoil bearing. The cores are projected to the center of the rotating shaft. The coils wound to the cores to levitate the rotating shaft using a magnetic attractive force generated by a current application thereto. The coupling segment is configured to couple the airfoil bearing to the magnetic bearing directly.

Airfoil-magnetic hybrid bearing and a control system thereof

A device for generating and varying stiffness, which may be applied to a joint of a robot manipulator, the stiffness generating device having a rotating shaft connected to a driven member; a rotor fixed to the rotating shaft and having arms comprising a magnetic element; a stator disposed to surround the rotor outside the arms and being connected to a drive motor; electromagnets fixed to an inner periphery of the stator and being opposed to each other about the rotating shaft, each having a core and a coil wound around the core; and means for applying current to the coils. One half of the electromagnets has N-poles at their inward ends and the other half of the electromagnets has S-poles at their inward ends. Current regulating means regulates the current being applied to the coils.

Device for generating stiffness and joint of robot manipulator comprising the same

There is provided a bearingless step motor in which a rotating shaft can rotate while rising from a main body by a magnetic force without using a mechanical bearing. The bearingless step motor comprises a stator including stator cores having winding portions and a rotor including a rotating shaft and rotor cores. The rotor rotates by a magnetic interaction between the rotor cores and the stator cores. A first permanent magnet is mounted to the rotor and a second permanent magnet is mounted to the stator. The first permanent magnet and the second permanent magnet are arranged so that a repulsive force is generated between magnetic poles. There is little power consumption for raising the rotating shaft and a complicated system for controlling the rise of the rotating shaft is unnecessary. Thus, the motor can be manufactured with a light and compact structure.

Bearingless step motor

There is provided a hybrid stepping motor comprising the following: a first rotor yoke and a second rotor yoke, each of the rotor yokes having a plurality of rotor teeth on a periphery thereof; a rotating shaft located between the first and second rotor yokes and supporting the first and second rotor yokes on a same axis, the rotating shaft including at least one permanent magnet magnetized in a direction of the axis; and a plurality of stator yokes, each of the stator yokes having a core portion, a coil wound around the core portion, and a plurality of stator teeth extending parallel to the axis from opposed end portions of the core portion, the stator yokes being disposed at regular intervals around the rotating shaft so that a constant air gap is maintained between radially inward surfaces of the stator teeth and radial end surfaces of the rotor teeth. A positive current is applied to the opposed and paired coils of said coils and a negative current is applied to the rest coils of said coils. The positive current and the negative current are applied at the same time and magnitude.

Hybrid stepping motor having high torque density

Growing community of inventors

Seoul, South Korea

Seung Jong Kim