• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.155-160
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• 2003

It is very important to make an intensive control of burr and surface roughness in the actuator arm of HDD for personal computer. There are two finishing techniques for actuator arm mechanical and chemical method. Centrifugal barrelling and magnetic deburring are mechanical methods, and electrolysis finish is a chemical method. Centrifugal barrelling and magnetic deburring are widely used due to the excellence in convenience and mass production. In this study, characteristics of surface roughness and deburring effect in magnetic deburring and centrifugal barrelling are investigated, and their performance of finishing is compared.

• Computational Structural Engineering : An International Journal
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• v.1 no.2
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• pp.89-96
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• 2001

A study on the topology optimization of a Hard-Disk-Driver(HDD) actuator arm is presented. The purpose of the present wert is to increase the natural frequency of tole first lateral mode of the HDD actuator arm under the constraint of total moment of inertia, so as to facilitate the position control of the high speed actuator arm. The first lateral mode is an important factor in the position control process. Thus the topology optimization for 2-D model of the HDD actuator arm is considered. A new objective function corresponding to multieigenvalue optimization is suggested to improve the solution of the eigenvalue optimization problem. The material density of the structure is treated as the design variable and the intermediate density is penalized. The effects of different element types and material property functions on the final topology are studied. When the problem is discretized using 8-node element of a uniform density, tole smoothly-varying density field is obtained without checker-board patterns incurred. AS a result of 7he study, an improved design of the HDD actuator arm is suggested. Dynamic characteristics of the suggested design are compared computationally with those of the old design. With the same amount of the moment of inertia, the natural frequency of the first lateral mode of the suggested design is subsequently increased over the existing one.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3325-3327
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• 1999

A microgripper driven by E-T (electro-thermal) actuators has been designed and fabricated by surface micromachining. This microgripper consists of two E-T actuators. Each actuator has two arms with different widths joined at the end to form a 'U' shape. The wider 'cold' arm has a narrow flexure at the end (anchor or electrode side) for easy bending, This actuator can be fabricated with only two masks - one for the sacrificial layer and the other for the poly-Si structure layer. An E-T actuator bends its arm due to unequal thermal expansion between the 'cold' arm and the 'hot' arm, This actuator tip moves laterally in an arcing motion towards the cold arm side when the structure is unevenly heated by the applied current. Therefore each microgripper is actuated inwards and can hold a micro object. The fabricated E-T actuator was operated in the range of $2{\sim}12V$ and $1{\sim}5mA$. and maximum tip displacement was $13.6{\mu}m$. This device may become useful in many applications because an E-T actuator can be designed and fabricated easily, and obtain large displacement.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.7 s.178
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• pp.1801-1809
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• 2000

A study on the topology optimization of Hard-Disk-Driver(HDD) actuator arm in free vibration is presented. The purpose of this research is to increasse the natural frequency of the first lateral mode of the HDD actuator arm under the constraint of total moment of inertia, so as to facilitate the position control of high speed actuator am. The first lateral mode is an important factor in the position control process. Thus the topology optimization for 2-D model of the HDD actuator arm is considered. A new objective function corresponding to multieigenvalue optimization is suggested to improve the solution of the eigenvalue optimization problem. The material density of the structure is treated as the design variable and the intermediate density is penalized. The effects of different element types and material property functions on the final topology are studied. When the problem is discretized using 8-node element of a uniform density, the smoothly-varying density field is obtained without checker-board patterns incurred. As a result of the study an improved design of the HDD actuator arm is suggested. Dynamic characteristics of the suggested design are compared computationally with those of the old design. With the same amount of the moment of inertia, the natural frequency of the first lateral mode or the suggested design is subsequently increased over the existing one.

• Transactions of the Society of Information Storage Systems
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• v.2 no.3
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• pp.208-213
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• 2006

The present state of the design of swing arm actuators for optical disc drives is to obtain the high efficient dynamic characteristics within a very compact volume. As a necessary consequence, the need of the small form factor (SFF) storage device has been arisen as major interests in the information storage technology. In this paper, we suggest the miniaturized swing arm type actuator that has high efficient dynamic characteristics for SFF optical disk drive (ODD). For the operating mechanism, it uses a tracking electromagnetic (EM) circuit for a focusing motion together. Moreover, due to the size constraint, the thermal stability of optical head is important. Therefore, the actuator is designed to emit the heat, which is generated by optical pick-up, along the actuator body easily. Initial model is designed based on the topology optimization method considering the thermal conductivity. Then, the structural parts of the actuator are modified to maintain the high sensitivity and to have wide control bandwidth by the design of experiments method (DOE) and new concept of decreasing mass and inertia. Finally, a swing arm type actuator for SFF ODD is suggested and its dynamic characteristics are verified.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.523-527
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• 1991

A rubber pneumatic controlled actuator is a new actuator. It is very light With a high power-to-weight ratio. In this thesis, a control method for a two link robot arm using the rubber actuator is developed. The structure of the servo control is made up of two sections. The position control is performed by PID feedback control. The air pressure is controlled by Servo Valve Unit driven by PWM and the control input is compensated by software operation. The numerical simulation of this control method to two link robot arm is presented to verify the performance of the closed loop system. The actual control of the real two link robot arm with rubber actuator is taken and its results are discussed.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.20 no.9
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• pp.24-31
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• 2006

This study developed a human robot mast arm, which has a structure similar to the human arm, with the objective of taking over human works. The robot arm was structured to reproduce human actions using three axes on each of the shoulder and the wrist based on mechanics, and the actuator of each axis adopted an ordinary DC motor. The servo system of the actuator is a one body type employing an amp for electric power, and it was designed to be small and lightweight for easy installation. We examined the posture control characteristics of the developed robot mast arm in order to test its interlocking, continuous motions and reliability.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.40-50
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• 1996

An unified compliant control algorithm to regulate the force by dual arms is proposed, where tow arms are treated as one arm in a kinematic viewpoint. The force error calculated form the information of two force/torque sensors attached to the end of each arm is transferred to minimum actuator coordinates, and then is distributed to total system actuator coordinates. The position adjustment at the total actuator coordinates is computed based on the effective computed based on the effective compliance matrix with respect to total actuator coordinates, which is obtained by coordinate transformation between the task coordinates and the total actuator coordinates. An experiment is carried out for dual arms with asymmetric kinematic structure to control an interaction force between manipulators and the environment. The performances of the proposed control algorithm are experimentally compared to those of dual arms employing master/slave scheme. The proposed compliant control algorithm not only ouperforms other algorithms, but also can be treated as an unified approach n the sense that it can be applied to arbitrary dual arm systems with general kinematic structures.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1800-1803
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• 1997

This paper presents new feedback actuators to achieve an accurate position control of a flexible gnatry robot arm. the translational motion in the plane is generated by two d.c.motors and controlled by emplying elecor-rheological(ER) clutch acutators. The generated motion can be continuously controlled by controlling the intensity of lectric field imposed to the ER fluid domain which tunes the transmitted torque of the ER clutch. n the other hand, during control action of the translational motion a flexible arm attached to the moving mass produces undesirable oscillatins due to its inherent flexibility. The oscillations are actively suppressed by applying feedback voltages to piezoceramic acutators bonded on the surface of the flexible arm. The control electric fields to be applied to the ER clutch and the control voltage for the piezoceramic actuator are determined via the loop shaping esign procedures(LSDP) in the H.inf. control technique. Comsequently, an accuate positiion control at the end-point of the flexible am is achieved during planar motion.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.813-819
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• 2006

The state of the art for the design of swing ann actuators for optical disc drives is to obtain the high efficient dynamic characteristics, especially for the small size for the mobile information devices, It is affected by the need of consumers who wants the portable digital storage devices maintaining highly functional and removable characteristics of the optical disk drive (ODD). As a necessary consequence, the need of the small form factor (SFF) storage device has been considered as an important part in the information storage technology. In this paper. we suggest a new conceptual miniaturized swing arm type actuator that has high efficient dynamic characteristics as well as satisfies the sensitivity and the heat emission requirements for the SFF-ODD. It also uses a tracking electromagnetic (EM) circuit for a focusing motion. Due to the size constraint, the thermal problem of optical head arises; therefore, we design an efficiently heat emitted structure for the actuator.