• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.15-20
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• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.

• Transactions of Materials Processing
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• v.21 no.8
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• pp.493-498
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• 2012

A wheel nut wrench is one of the hand tools used to loosen and tighten lug nuts on automobile wheels and it has generally a solid-type geometry for commercial vehicles. However, the solid-type wheel nut wrenches manufactured by hot forging processes exhibit several drawbacks such as heavy weight and rough surface finish. Thus, many efforts have been devoted to change the part geometry and improve the manufacturing process. For this purpose, the weight of the final product can be reduced drastically using a hollow tube as the initial stock, which can be manufactured by the more economical manufacturing process of cold forging. In this study, the cold forging of a hollow-type wheel nut wrench for commercial vehicles was designed based on the results of fundamental experiments and CAE analyses using the commercial finite element code DEFORM-3D. In addition, cold forging experiments were conducted on a special-purpose forming machine for hollow wheel nut wrenches in order to validate the designed process sequence. As results, it was found that the final products with a weight reduction of 39% and better surface appearance can be manufactured without any defect with the newly designed cold forging process.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.810-814
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• 1996

The purpose of this exclusive welding-machine process using the welding Torch-rotation form is to develop a mechanism which can solve the problem of twisted welding wires and cables. The technique was developed by revising the torch position and smooth controlling of both the formal and reverse rotation. Some of the advantages of using the Torch-rotation form over the Work-rotation technique are the practical uses of increased work space and link work with the automation system of the plant. Using this welding machine process, It is possible to design a specific tool in order to solve the implemental problem. And I produced a control plate which can manipulate the progress of the entire process at the work place. Even if another kind of axle casing's welding work is used this process can be utilized if the fixed tip and work is produced and changed. The development if this exclusive welding-machine could reduce the manpower of skilled welding labor and after considerable analysis, this machine was found to increase productivity and better quality product in comparison to the handmade product.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.5
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• pp.96-102
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• 2021

Hexagonal bolt, nut, fittings, and high-pressure valves with special alloy play an important role in many industrial products. Numerical analysis was conducted to obtain data for designing a new drawing system. This study aims to predict the rolling force of the new drawing system compared to that of the established drawing system. The rolling force of the new drawing system was predicted using numerical analysis by assuming that it is in proportion to deformation. The rolling forces of Mo, Ti, and W were approximately 1.4, 0.5, and 2.5 times those of SUS. Because the values of ultimate strength of special alloys were more close to numerical analysis, the values of ultimate strength could be used to predict the rolling force of the new drawing system without numerical analysis in field.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.41-51
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• 2016

Friction generated from balls and grooves incurs temperature rise in the ballscrew system. Thermal deformation due to the heat degrades positioning accuracy of the feed drive system. To compensate for the thermal error, accurate prediction of the temperature distribution is required first. In this paper, to predict the temperature distribution according to the rotational speed, solid and hollow cylinders are applied for analysis of the ballscrew shaft and nut, respectively. Boundary conditions such as the convective heat transfer coefficient, friction torque, and thermal contact conductance (TCC) between balls and grooves are formulated according to operating and fabrication conditions of the ballscrew. Explicit FDM (finite difference method) is studied for development of a temperature prediction simulator. Its effectiveness is verified through numerical analysis.

• Journal of the Korea Institute of Building Construction
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• v.15 no.6
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• pp.631-639
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• 2015

In the unit modular construction, the unit module prefabricated in a factory with a high level of accuracy does not fit completely onto the ground-joint junction due to the low accuracy of the ground work. This difference in the level of accuracy can cause diverse problems, such as twisting the upper unit modules and loosening the connection between the module and the footing. On this background, the aim of this study is to develop a technique for adjusting the height of the prefabricated individual footing. To accomplish the aim, a height adjustment method using bolts and nuts is proposed, and a shop drawing and the construction sequence are also presented in this study. The structural safety is verified through a structure simulation. In the future, research will be conducted on a mock-up test of the height adjustment method developed in this study, and an analysis of economic feasibility will be performed in order to verify its constructability and usability.

• Journal of the Korea Concrete Institute
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• v.26 no.2
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• pp.125-133
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• 2014

In this study, experimental research was carried out to investigate the seismic and structural performance of precast concrete exterior beam-column joints using bolt type connection and prestressing method. A total of five full-scale exterior beam-column joints were constructed and tested under reversed cyclic loading, controlled by displacement. Results of the test are as follows: Energy dissipation capacity and pinching phenomenon of PC beam-column joints showed disadvantageous behavior compared to RC beam-column joints. However, drift capacity of the PC joint was excellent. Also, yield mechanism concentrated on embedded nuts was suitable as an exterior beam-column joint of lateral load resistance frame. Additional application of prestressing method was also very effective to control excessive pinching and cracking in the joint region, and thus improved an overall seismic performance of the PC joint.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.12
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• pp.6967-6972
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• 2014

Assembly using a bolt and nut, and rivet or pin have been used widely for forming mechanical joints. The indent method is an easier process than other manufacturing techniques and the toughness of the material is excellent. On the other hand, there are many cases in which the cracks occur on the manufacturing process as the indent method. Therefore, two kinds of models, in which a pin goes into and out PCB plate in this study were developed using the CATIA program and finite element methods were performed using the ANSYS program. When a pin was passed through a PCB plate in cases 1 and 2, the maximum loads applied to the PCB plate were 79.708N and 90.277N, respectively. When the PCB plate came out of the pin in cases 1 and 2, the maximum loads were 63.783N and 33.75N, respectively. The damage prevention and durability can be improved by applying the study results to the design of real indentation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.3
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• pp.666-672
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• 2017

Our research team is developing a 6-DOF manipulator for narrow workspaces in press forming processes, such as placing PEM nuts on the bottom of a chassis. In this paper, kinematic analysis was performed for the position control of the manipulator, along with structural analyses for position accuracy with different payloads. First, the Denavit-Hatenberg (DH) parameters are defined, and then the forward and backward kinematic equations are presented using the DH parameters. The kinematic model was verified by visual simulation using Coppelia Robotics' virtual robot experimentation platform (V-REP). Position accuracy analysis was performed through structural analyses of deflection due to self-weight and deflection under full payload (5 kgf) in fully opened and fully folded states. The maximum generated stress was 22.05 MPa in the link connecting axes 2 and 3, which was confirmed to be structurally safe when considering the materials of the parts.

• Transactions of Materials Processing
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• v.29 no.3
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• pp.157-162
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• 2020

Blind rivet nuts are increasingly used in automotive for the joining of sheets. Their application, however, requires appropriate design guides to prevent catastrophic events arising from the failure of joints. In this study, the shaft shape of a frequently used M8 blind rivet nut is optimized based on 3D numerical analysis of the blind rivet nut considering the characteristics of thread. The thread needs to be modeled to suitably consider the fastening of the M8 bolt after the crimping process. FE analysis showed that while the friction in the contact between crimp flange and plate has no significant effect on the crimp geometry, shaft thickness (t) and shaft height (h) are the most significant design variables. The parameter study including various combinations of t and h reveals that they affect the gap (the distance between the crimped flange and the plate that develops through riveting) and the load acting on the plate. The gap is an indicator of the tightening force. It is found that t is inversely proportional to the gap, and proportional to the load, whereas h is proportional to the gap and inversely proportional to the load. Based on our FE analysis results, we propose the range 0.062 < t/h < 0.1 to ensure sufficient fastening (high clamping load, small gap) of the M8 blind rivet nut. The design guide for determining the t/h ratio proposed in this study can be used for general quantitative analysis of the size and the t/h ratio of blind rivet nuts.