• 로봇학회논문지
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• 제4권3호
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• pp.250-256
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• 2009

Suppressing residual vibrations of flexible materials cheaply is an important issue to increase productivity of automated factory using wafer or glass handling robots. In this paper, we present Linux/RTAI-based implementation of input shaping control for reducing residual vibrations of a mechanical system. Experimental results show that residual vibrations of the mechanical system are reduced up to 82% at a point-to-point linear motion.

• 대한기계학회논문집A
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• 제26권1호
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• pp.67-73
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• 2002

The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers have been considered robustness fur only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness fur the variation of frequency and damping ratio.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.127-133
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• 2001

The flexibility of long reach manipulators presents a difficult control problem when accurate end-point position is required. Input shaping by convolving system commands with impulse sequences has been shown to be an effective method of reducing residual vibrations in flexible systems. However, existing shapers has been considered robustness for only frequency uncertainty. However, this paper presents new multi-hump convolution(CV) input shaper that could accommodate with the simultaneous variation of natural frequency and damping ratio. Comparisons with previously proposed input shapers are presented to illustrate the qualities of the new input shaper. These new shapers will be shown to have better robustness for the variation of frequency and damping ratio.

• 반도체디스플레이기술학회지
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• 제11권2호
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• pp.33-38
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• 2012

The wafer positioning robot in the semiconductor industry is required to operate at high speed for the improvement of productivity. The residual vibration caused by the high speed of the wafer positioning robot, however, makes the life of the robot shorter and the cycle time longer. In this study, the input shaping and the path of the system are designed for the reduction of the residual vibration and the improvement of the cycle time. The followings are the process for the reduction and the improvement; 1) System modeling of the wafer positioning robot, 2) Verification of dynamic characteristics of the wafer positioning robot, 3) Input shaping plan using impulse response reiteration, 4) Simulation test using SIMULINK program, 5) Analysis of result.

• 한국정밀공학회지
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• 제26권9호
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• pp.88-95
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• 2009

Input shaping has been a very effective control method for reducing payload swing in industrial bridge and gantry cranes. However, conventional input shapers often degrade performance when applied to tower cranes because of the nonlinear coupled dynamics between rotational and radial motions in tower cranes. To alleviate this problem, a new input shaper for tower cranes is developed by means of dynamic modeling, analysis and optimization. This work investigates the tower crane dynamics along with parameters of the tower crane varied. A performance index for input shaper design is proposed so as to reduce the coupled residual vibration of a tower crane using only rotational motion of tower crane. The proposed new input shaper is verified to be effective through simulations and experiments.

• 한국정밀공학회지
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• 제21권9호
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• pp.158-166
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• 2004

A new method to measure residual unbalance of rotor - bearing system was proposed. The method which determine residual unbalance based on polar plot and an analytical method which calculates the residual unbalance of the rotor from the vibration response of the Jeffcott rotor are proposed in this study with respect to a real rotor system of which the residual unbalance is unknown. The unbalance eccentricity of the produced experimental model is 3.78 mil, developing the measurement method of the residual unbalance more convenient than the proposed method of ISO and API standard. The proposed method was experimentally compared with the ISO standard, and the two methods were exactly correspondent to each other within an error of 1%.

• 반도체디스플레이기술학회지
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• 제16권2호
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• pp.98-105
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• 2017

In the display industry, the residual vibration of the transfer robot can increase the process time and cause the breakage of the glass substrate, which is critical to productivity of display manufacturing. In this paper, the natural frequencies of transfer robot are analyzed by finite element method. On the basis of the analyzed data, we investigated the response characteristics of input shaping control with or without the glass presence on the hand of the transfer robot using MATLAB program, and compared with the current response characteristics of input shaping control applied to the industry. Based on this, we suggest an optimal residual vibration control method for the practical application in display industry.

• 대한토목학회논문집
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• 제7권1호
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• pp.93-101
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• 1987

용접부(鎔接部)에서 잔류응력(殘留應力)은 용접열(鎔接熱)에 의한 국부(局部) 가열(加熱)과 불규칙적(不規則的)이고 비교적(比較的) 급속(急速)한 냉각(冷却)으로 유발(誘發)되는 열응력(熱應力)과 구조물(構造物)의 강성(剛性) 및 재료(材料) 등에 의하여 발생(發生)되며, 잔류응력(殘留應力)의 존재(存在)는 취성파괴강도(脆性破壞强度), 피로강도(疲勞强度), 좌굴강도(挫屈强度), 진동특성(振動特性), 부식저항(腐蝕抵抗) 등에 영향(影響)을 미치는 궁극적(窮極的) 요인(要因)으로 간주(看做)됨으로 본(本) 연구(硏究)는 구조물(構造物)의 강도(强度)를 저하(低下)시키고 기능(機能)에 악영향(惡影響)을 끼치는 잔류응력(殘留應力)의 기구학적(機構學的) 특성(特性)을 파악(把握)하기 위하여 SWS 58 강판(鋼板)을 X홈 용접(鎔接)하여 이것을 4단계(段階) 즉 $350^{\circ}C$, $500^{\circ}C$, $650^{\circ}C$, $800^{\circ}C$로 열처리(熱處理)하여 hole drilling method를 사용(使用)하여 잔류응력(殘留應力)을 측정(測定)한 결과(結果), 다음과 같은 결론(結論)을 얻었다. 잔류응력(殘留應力)을 제거(除去)시키는 가장 효과적(效果的)인 온도(溫度)는 $650^{\circ}C$ 정도(程度)이었고, 구멍의 직경(直經)이 구멍의 깊이와 일치할 때 구멍바로 근처(近處)의 소성변형(塑性變形)은 완전(完全)히 해방(解放)되었으며, 경도시험(硬度試驗)을 통(通)해 열처리(熱處理) 후(後) 열영향부(熱影響部)의 높은 경도(硬度)가 모두 삭감(削減)되는 것을 알 수 있었으며 또한 잔류응력(殘留應力)에 끼치는 용접입열(鎔接入熱)의 영향(影響)은 입열량(入熱量)의 표준(標準)보다 1/4 이상(以上), 이하(以下)인 경우 잔류응력(殘留應力)은 용접입열(鎔接入熱)에 큰 영향(影響)이 없음을 알았다.

• 한국소음진동공학회논문집
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• 제17권3호
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• pp.257-263
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• 2007

Detection of structural damage is an inverse problem in structural engineering. There are three main questions in the damage detection: existence, location and extent of the damage. In concept, the natural frequency and mode shapes of any structure must satisfy an eigenvalue problem. But, if a potential damage exists in a structure, an error resulting from the substitution of the refined analytical finite element model and measured modal data into the structural eigenvalue equation will occur, which is called the residual modal forces, and can be used as an indicator of potential damage in a structure. In this study, a useful damage detection method is proposed and compared with other two methods. Two degree-of-freedom system and Cantilever beam are used to demonstrate the approach. And the results of three introduced method are compared.

• 항공우주시스템공학회지
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• 제13권3호
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• pp.23-31
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• 2019

현대의 위성들의 설계요구조건은 운용되는 목적에 따라 다양해진다. 기존 중/대형 위성과는 달리 저궤도에서 운용되는 소형위성의 경우 군사적인 목적을 나타내기도 한다. 그렇기 때문에 고해상도의 사진 및 영상 수요가 증가하며 다표적 관측이 중요하게 된다. 이에 다표적 관측을 하기 위해서 위성의 기동성은 중요한 설계변수이다. 기동성이 증가하기 위해서 소형화가 되면 전체 질량관성모멘트가 감소하기 때문에 위성의 강성을 높여야한다. 본체에 비해서 강성이 낮은 태양전지판의 경우 진동이 발생하기 때문에 영상획득에 큰 영향을 미친다. 이러한 진동특성을 확인하기 위하여 본 연구에서는 위성을 축소모델로 제작하여 자세기동을 모사하기 위한 실험 치구를 도입하였고, 위성의 강성을 모사하기 위한 모사장치를 제시하였다. 또한 실험방식은 스텝모터를 이용하여 와이어의 감는 길이에 따라 위성의 기동각을 모사하였으며, 기동실험 시 발생되는 위성의 본체 및 태양전지판에 대하여 진동특성을 실험적으로 검증하고자 한다.