• 한국정밀공학회지
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• 제31권3호
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• pp.243-251
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• 2014

In inference fit assembly process of the industrial robot, it basically needs the force data. One of the typical methods to get the force data is attaching torque sensors on the robot arm joint or end effector. This is effective way to reduce time delay and to improve preciseness of force control, but this method has several problems. To solve that problem, this paper suggests method which measures assembly force without torque sensor by using the sliding perturbation observer(SPO) and assembly process based on SPO to assemble successfully in inference assembly

• 대한치과보철학회지
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• 제46권3호
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• pp.261-268
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• 2008

STATEMENT OF PROBLEM: Detachment of the magnetic assembly from the denture base has been a problem in magnetic overdenture patients. PURPOSE: The objectives of this study were to compare the dislodging force by the fixing materials and the designs of the magnetic assembly, and to compare the effect between the fixing materials and the designs of the magnetic assembly. MATERIAL AND METHODS: Two fixing materials, Jet denture repair $acrylic^{(R)}$ and Super-$Bond^{(R)}$ C&$B^{(R)}$ and two types of magnetic assembly designed with or without wing were used. Each magnetic assembly was fixed in the chamber of the denture base resin block ($Lucitone^{(R)}$199) with each fixing material respectively. These specimens were thermocycled 2,000 cycles in the water held at $4^{\circ}C$ and $60^{\circ}C$ with a dwell time of 1 min each time. Each specimen was seated in a testing jig and then a push-out test was performed with a universal testing machine at a cross head speed of 0.5 mm/min to measure the maximum dislodging forces. RESULTS: Comparing the fixing materials, Super-Bond C&$B^{(R)}$ showed superior dislodging force than Jet denture repair $acrylic^{(R)}$. Comparing the design of the magnetic assemblies, the wing design magnetic assembly showed better dislodging force. Combination of the Super-Bond C&$B^{(R)}$ as a fixing material and wing design magnetic assembly revealed a greatest dislodging force. The kind of fixing material was more influential than the type of magnetic assembly. CONCLUSION: The dislodging force of Super-Bond C&$B^{(R)}$ was significantly higher than Jet denture repair $acrylic^{(R)}$. And the dislodging force of magnetic assembly which have wing design was significantly higher than magnetic assembly which have no wing design.

• 대한기계학회논문집A
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• 제24권12호
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• pp.3072-3079
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• 2000

Assembly tasks are often performed by one robot with fixtures. This type of assembly system has low flexibility in terms of the variety of parts and the part-presentation the system can handle. This paper addresses assembly without fixtures using two-manipulator robot. An active method using force feedback is proposed for the peg-in-hole assembly in highly uncertain environment. Assembly states are defined as status having unique motion constraints and events are modeled as variation of the environmental force. The states are recognized through identification of the events using two 6-d. o. f. force/moment sensors. The proposed method is verified and evaluated by experiments with round peg-in-hole assembly.

• 한국산학기술학회논문지
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• 제18권8호
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• pp.378-385
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• 2017

본 연구는 플라스틱 부품의 체결에 널리 활용되고 있는 스냅핏의 설계에 관하여 연구하였다. 이탈방지 기능이 우수한 이탈방지 스냅핏은 형상과 체결 메카니즘이 복잡하여 기존의 이론식에 기반한 체결력과 이탈력을 해석적으로 구할 수가 없다. 따라서 본 연구에서는 이탈방지 스냅핏에 대하여 체결 메커니즘을 분석하고, 실험계획법에 기반하여 체결력 및 이탈력을 측정하고, 분산분석을 통하여 회귀식을 도출하였다. 실험계획은 중심합성계획을 사용하였다. Polybutylene terephthalate를 이용하여 시편을 제작하여 미소인장시험기를 이용하여 체결력과 이탈력을 측정하였다. 설계인자는 Length, Width, Thickness, Interference 등 4개를 선정하였으며, 2차 회귀모형을 이용하여 체결력과 이탈력에 대한 회귀식을 도출하였다. Length와 Width가 증가할수록 체결력은 낮아졌으며, Thickness와 Interference는 증가할수록 체결력이 증가하였다. 이탈력은 체결력과 반대의 결과를 나타내었다. 유한요소법을 이용하여 체결 역학에 대하여 분석하였다. Width는 체결단계에서 단면관성모멘트의 증가를 통한 보의 강성 증가 효과 보다는, 오히려 길이 증가에 따른 연성증대로 인하여 체결력을 감소시키는 것으로 나타났다. 낮은 체결력과 높은 이탈력을 위한 인자들의 영향도는 서로 상반되는 것으로 나타났다. 적정 수준의 이탈력을 유지하면서 체결력을 최소화하는 설계가 필요한 것으로 나타났다.

• 한국자동차공학회논문집
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• 제2권3호
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• pp.94-104
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• 1994

In order to improve engine performance and its reliability it is very important to find the friction force between piston-ring assembly and cylinder wall in engine operating conditions. A new system was developed for the piston-ring assembly friction force measurement. This system had a relatively high fundamental frequency at 884 Hz and a fine resolution of 0.5N in friction force measurement. Comparing with existing floating liner systems this systems required small installation space and at the same time alleviated the system noise problem induced by the thrust and slap impulse forces.

• Nuclear Engineering and Technology
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• 제30권3호
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• pp.212-221
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• 1998

In the present study, a method for the dynamic analysis of a reactor core is developed. Peak responses for the motions induced from earthquake are obtained for a core model. The dynamic responses such as fuel assembly shear force, bending moment, axial force and displacement, and spacer grid impact loads are investigated. Prediction of fuel assembly stress during an earthquake requires development of a fuel assembly stress analysis model capable of interfacing with the models and results discussed in the dynamic analysis of a reactor core. This analysis uses beam characteristics which describe the overall fuel assembly response. The stress analysis method and its application for the case of an increased seismic level are also presented.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.241-245
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• 2003

In this paper, a microassembly system based on hybrid manipulation schemes is proposed and applied to the assembly of a photonic component. In order to achieve both high precision and dexterity in microassembly, we propose a hybrid microassembly system with sensory feedbacks of vision and force. This system consists of the distributed 6-DOF micromanipulation units, the stereo microscope, and haptic interface for the force feedback-based microassembly. A hybrid assembly method, which combines the vision-based microassembly and the scaled teleoperated microassembly with force feedback, is proposed. The feasibility of the proposed method is investigated via experimental studies for assembling micro opto-electrical components. Experimental results show that the hybrid microassembly system is feasible for applications to the assembly of photonic components in the commercial market with better flexibility and efficiency.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.73-73
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• 2000

Assembly is usually performed by one robot and fixtures. This type of assembly system has Low flexibility in terms of variety of parts and part-presentation that the system can handle. This paper addresses assembly without fixtures using two-manipulator robot. An active method using force feedback is proposed for the peg-in-hole assembly in highly uncertain environment. Assembly states are described by extended contact relations. Qualitative templates for events are easily derived from the token vector of the Petrinet model. The states are recognized through identification of the events using two 6-d.o.f force/moment sensors. The proposed method is verified and evaluated through experiments with round peg- in-hole assembly.

• 오토저널
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• 제12권4호
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• pp.66-74
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• 1990

Friction between piston-ring assembly and cylinder wall of a spark ignition engine was evaluated under various engine operating conditions utilizing a grasshopper linkage system. The friction force was estimated by the force balance relation at the small end of connecting rod. Three forces were chosen to be measured for the objective. They were gas pressure inside the cylinder, inertia force of the piston-ring assembly, and the force exerted by the connecting rod. These forces were measured by a piezo type pressure sensor, an accelerometer and strain gauges, respectively. Comparisons were made with the frictional force evaluated by the conventional method where the assumption of constant rotational speed of engines was adopted. Due to the variation of rotational speed of engines, the conventional method was found to lead to a large error in the evaluation of the frictional force.

• 제어로봇시스템학회논문지
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• 제6권3호
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• pp.298-308
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• 2000

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.