• Journal of the Korean Magnetics Society
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• v.26 no.3
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• pp.86-91
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• 2016

The cogging torque of a brushless dc (BLDC) motor results from the interaction between permanent magnets and iron core, and it causes noise and induce vibrations. During a manufacturing process, assembly tolerances lead to the change of the electromagnetic structure of a BLDC motor where permanent magnets are not properly glued to the surface of rotor core. In this paper, the effect of magnet separation from the surface of rotor core on the cogging torque is investigated due to assembly tolerance. The relationship with key design parameters is considered such as separation between magnets and rotor core, the number of magnets having separation, as well as the several types of arrangements among neighboring magnets. Finite element method (FEM) has been used to analyze a BLDC motor, and the allowable assembly tolerance is proposed to prevent generating noise and vibrations. Within proposed assembly tolerance, it is concluded that the cogging torque of a BLDC motor is decreased, and hence noise and vibrations.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.5
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• pp.1320-1329
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• 1990

A static performance tester for a torque rod assembly was developed to evaluate the three characteristics of the rod rubber bushing : radial spring characteristic, thrust spring characteristic, and rotational torque characteristic. Among the various schemes considered in the conceptual design stage, the final versatile type was determined to perform three different tests in one machine. The performance testing machine carried out radial spring test, thrust spring test, and torque test of the torque rod assembly. Static performance of the torque rod assembly was evaluated with the tester developed and fatigue strength of the assembly was also tested with the servo-hydraulic structural fatigue testing machine. The life of the component was found to be related with the rubber quality and adhesionability between the rubber and the steel rod. The optimum rubber hardness was experimentally found by changing the chemical compositions of rubber, and the adhesion was improved by optimizing the shape of the outer section of a the rubber, this study ensured the development of a reliable torque rod assembly.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.3
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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

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.333-338
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• 2000

This paper presents an experimental study and numerical thermal deformation analysis in the home appliance, Video Cassette Recorder. Analyzing the change axial force of a set screw according to the change of temperature in the drum assembly, we can determine the initial torque in tightening set screw. The torque will have the preload boss not be separated from the bearing. Also we conduct the fundamental experiment to constitute a boundary condition of the numerical analysis. With the result of this study, we can change the material of preload boss, copper, for aluminum.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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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.

• Journal of Applied Reliability
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• v.13 no.1
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• pp.11-18
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• 2013

For a reliability assessment of machinery parts, accurate performance test, environmental test, life test, etc. are required on the sample. In the performance test conditions of various machinery parts, some problems happen such as needs to rise temperature rapidly with large flow of oil having very low thermal conductivity and to measure very high torque or tiny torque, etc. This study brings out the method to apply heat to rise temperature for large flow of oil without chemical change in a performance test of oil cooler. To measure large scale of torque in a performance test of planetary gearbox of excavator, the method of torque measurement is proposed by replacing the large torque meter priced very expensive. To measure very small torque on lubricated friction, a methode of force balance type test mechanism is introduced for tests of piston assembly.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.3
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• pp.40-46
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• 2021

An automatic transmission of automobiles enables comfortable driving experience with lower transmission shifting jerks. However, the assembly structure is more complicated and requires additional components with lower efficiency than the manual transmission system. Extensive research has been conducted to improve the overall transmission efficiency by optimizing each component of the automatic transmission assembly. This study focuses on enhancing the friction torque of double angular contact ball bearings used in automatic transmission. The friction torque of the bearing varies with the operating conditions such as the operational load and rotating speed. Since reducing the friction torque of the bearing tends to deteriorate the durability of the bearing, it is necessary to design the bearing having a minimum required friction torque by determining the durability life of an automatic transmission assembly, In this study, the theoretical life and friction torque of conventional and newly-developed bearings are calculated. The difference in the friction torque between the new and existing bearings are also evaluated.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.606-608
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• 1989

Force/torque sensors are now providing widespread practical solutions to manufacturing problems, particularly in the area of automated assembly. The current state of the industry is discussed, including the evolution of transducer and controller design, and the trend of robot manufacturers to integrate force/torque sensors into their robot systems thereby greatly improving cycle time and simplifying the application development task for the end-user. Current and future application areas are discussed as well as the benefits of force/torque sensing.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1209-1217
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• 1997

This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1213-1218
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• 2007

The brake judder comes from non-uniformities in the tire/wheel assembly caused by mechanical effects such as a brake torque variation (BTV). A disc thickness variation (DTV) related with the kinematic behavior of the disc was investigated a main source of BTV. In this study, a dynamic model with brake corner assembly of full vehicle using MSC.ADAMS was correlated by experiment of judder phenomenon. Judder was generated and correlated systematically by judder experiment in chassis and brake dynamometer from variation in the thickness of the disc. Also it has been found a judder transfer path and variation of the braking pressure. Through analysis of transfer function and movement of subsystem caused by BTV generation, design parameters have been found. Based on the results obtained from parameter study of suspension module, the effective design process and developed model with brake corner assembly was suggested for vibration reduction of steering wheel caused by the judder phenomenon.