• 융합신호처리학회논문지
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• 제15권3호
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• pp.104-111
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• 2014

이 논문에서는 자동차의 제동장치에 사용되는 브레이크 모듈 조립 작업을 로봇을 사용하여 자동화한 사례를 소개한다. 브레이크 모듈은 하나의 토크 멤버에 두 개의 브레이크 패드와 두 개의 패드 라이너를 장착하여 조립을 완성한다. 이 조립 작업은 로봇의 방향을 자주 바꾸어 주어야하기 때문에 일반적인 산업용 로봇 핸드를 사용하면 조립 시간이 오래 걸린다. 이 논문에서는 두 가지 방법을 제안한다. 첫 번째 방법은 다섯 개의 그리퍼를 갖는 로봇 엔드 이펙터를 설계, 제작하여 기존의 산업용 6축 머니퓰레이터에 장착하여 조립 작업을 수행하는 방법이다. 이 방법에서는 두 개의 브레이크 패드와 두 개의 패드 라이너를 한꺼번에 파지하여 조립 작업을 수행하며 따라서 하나의 그리퍼 만을 가지고 있는 기존의 엔드 이펙터에 비해 조립 시간을 줄일 수 있었다. 두 번째 방법에서는 첫 번째 방법을 더욱 개선하여 엔드 이펙터가 하나의 부가적인 자유도를 가지도록 설계, 제작하여 기존의 산업용 6축 머니퓰레이터에 장착하였다. 이 방법에서는 전체 로봇 머니퓰레이터가 7 자유도를 갖는 여유자유도 머니퓰레이터가 되어 로봇의 동작을 최소화하면서 조립에 필요한 다양한 로봇 방향을 구현할 수 있었다.

• 우주기술과 응용
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• 제3권4호
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• pp.322-332
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• 2023

Satellite attitude-control actuators are equipped with a reaction wheel for three-axis attitude control. The reaction wheel rotates a motor inside the actuator to generate torque in the vector direction. When using the reaction wheel, there are restrictions on the torque values generated as the motor rotates. The torque value of the reaction wheels mounted on small satellites is approximately 10 mNm, and high values are not used. Therefore, three-axis attitude control of a small satellite is possible using a reaction wheel, but this method is not suitable for missions that require rapid attitude control at a specific time. As a technology to overcome the small torque value of the reaction wheel, the control moment gyro (CMG) is currently in wide use as a rapid attitude-control actuator in space satellites. The CMG has an internal gimbal mounted at a right angle to the rotation motor and generates a large torque value. In general, when the gimbal operates, a torque value approximately 100 times greater is generated, making it suitable for rapid posture maneuvering. Currently, we are developing a technology for mounting a controlled moment gyro on a small satellite, and here we share the development status of an 800 mNm CMG.

• 대한기계학회논문집A
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• 제40권2호
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• pp.133-138
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• 2016

기존에는 로봇 말단에 6축 힘/토크 센서를 부착하여 로봇의 힘제어 및 충돌감지를 수행하였지만, 이 방법은 매우 고가이고, 로봇의 몸체에서 발생한 충돌을 감지할 수 없었다. 이의 대안으로 각 관절에 관절 토크센서를 장착하였으나, 토크 측정 시에 발생하는 다양한 오차로 인하여 실제 적용에 한계가 있었다. 이러한 문제를 해결하고자 본 연구에서는 정확한 토크 측정을 위한 관절 토크센서 및 이를 포함하는 관절모듈을 개발하였다. 제안된 관절모듈은 로봇에 인가되는 모멘트 부하를 지지하고, 조립 시 발생하는 응력을 감소시키기 위하여 토크센서에 디스크형 커플링을 첨가하여 원하는 회전토크만을 효과적으로 측정할 수 있도록 하였다. 본 논문에서는 다양한 실험을 통하여 제안한 토크센서의 성능을 검증하였다.

• 전력전자학회논문지
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• 제3권1호
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• pp.53-60
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• 1998

본 논문은 비디오 카메라 및 프로젝션 TV 등 영상 기기의 요소 부품인 캠코더용 Iris Assembly에 있어서 동작원리, 구성부품의 특성, 동작특성 해석과 각 요소부품의 개발시 중요 Know-how 등을 언급한다. 저전력용으로 소형이지만 간단한 구조로 만들기 위한 자계회로를 실현하였다. 특히 잔류 자계의 영향과 동작 시간의 관계를 실험적으로 규명한다. 소형 정밀부품의 국산화 개발에 있어서 필요한, 간편한 구동 시스템 원리와 그로 인해 발생하는 비선형성 토오크의 문제점 및 개발 공정 등을 설명하고, 각 부품의 Burr 최소화를 위한 점검 요소, 소형 요소 부품의 공정 등을 다룬다.

• 한국정밀공학회지
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• 제28권10호
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• pp.1181-1188
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• 2011

A control system for stabilizing a small robot or inverted pendulum using twisted gyro wheel is proposed. Conventional stabilizer using inertial wheel employs action-reaction force/torque to control a pendulum, which can generate relatively small torque and short period of output. In this paper, a novel actuation method using twisted gyro torque in 3-dimentional space was proposed to stabilizing a pendulum by twisting the assembly including a rotating gyro wheel. In addition, two special control functions for this type of twisted gyro wheel were designed. One is the function of self-adjusting the mass center of the robot and the other is the torque reloading configuration for continuous torque generation. The proposed system was verified by experimental result and simulation. The designed twisted gyro wheel control system can be easily packed in a small size module and installed in a humanoid robot or inverted pendulum type mechanism.

• 한국기계기술학회지
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• 제20권6호
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• pp.901-905
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• 2018

The objective of this study is to investigate the effect of torque variation on stress distributions in A-IMS module with both side tubular shaft yoke by numerically. In order to achieve this, the torque value was increased from 10Nm to 40Nm, and the results of this work were confirmed in terms of Von-mises Stress and the displacement characteristics. As the torque in module assembly was increased, the stress in tubular shaft york and splined shaft york was increased linearly. The indentation due to the steel ball was occurred in over $40N{\cdot}m$ torque which is over the yield strength condition. The largest displacement occurred in the tubular shaft yoke 1, however, it does not exceed the yield strength and is supposed to be restored due to the elasticity. Therefore, it was concluded that there is no problem for the manufacturing of A-IMS with both side tubular shaft yoke.

• 전력전자학회논문지
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• 제27권6호
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• pp.481-488
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• 2022

This study proposes compensation methods for the initial position error and torque ripple in vector control of two-phase hybrid stepping motors. Stepping motors have an asymmetrical structure due to misalignment, such as the eccentricity generated by the manufacturing and assembly process. When vector control is applied using the position information measured by an incremental encoder attached to the rotor shaft of such stepping motors, the following problems occur. First, an initial position error occurs during the forced excitation process for the initial rotor position alignment. Second, torque ripple corresponding to the mechanical rotation frequency is generated. In this study, these non-ideal phenomena that occur in vector control of the stepping motor are analyzed, and compensation methods are proposed to eliminate them. The validity of the proposed initial position error and torque ripple compensation methods is verified through experiments on a two-phase hybrid stepping motor drive system.

• 동력기계공학회지
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• 제16권1호
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• pp.5-11
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• 2012

In this paper, the numerical analysis is introduced to predict the dynamic characteristics of piston pump assembly components in hydraulic piston pump for aircraft. Rotating cylinder block and reciprocating pistons are modelled kinematically. Furthermore, leakage flow and torque losses between the boundary surfaces of components are analyzed. This analysis has been carried out through the commercial CASPAR program. The simulations for stress on pump assembly components using the dynamic analysis model are performed using the ANSYS 11 program. Such dynamic characteristics and stress simulation procedures will be carried out repeatedly for the optimized design.

• Transactions on Electrical and Electronic Materials
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• 제13권3호
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• pp.129-135
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• 2012

A number of surface mount technology (SMT) process variables including land design are considered for minimizing tombstone defect in flexible printed circuit assembly in high volume manufacturing. As SMT chip components have been reduced over the past years with their weights in milligrams, the torque that once helped self-centering of chips, gears to tombstone defects. In this paper, we have investigated the correlation of the assembly process variables with respect to the tombstone defect by employing statistically designed experiment. After the statistical analysis is performed, we have setup hypotheses for the root causes of tombstone defect and derived main effects and interactions of the process parameters affecting the hypothesis. Based on the designed experiments, statistical analysis was performed to investigate significant process variable for the purpose of process control in flexible printed circuit manufacturing area. Finally, we provide beneficial suggestions for find-pitch PCB design, screen printing process, chip-mounting process, and reflow process to minimize the tombstone defects.

• Journal of Electrical Engineering and Technology
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• 제9권6호
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• pp.2209-2217
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• 2014

A permanent-magnet-assisted switched reluctance motor (SRM) having small excitation poles, where phase coils are concentrically wound on the poles and thin permanent magnets are inserted inside the poles, is proposed in this paper. The insertion of permanent magnets into the stator excitation poles has a significant influence on positive torque improvement leading to a boost in efficiency. Three key design parameters such as the thickness of permanent magnets, space between two adjacent permanent magnets, and the width of stator excitation poles are determined during a design procedure in terms of the enhancement of positive torque. Step-by-step design modification and a comparison between the proposed permanent-magnet-assisted SRM and no-permanent-magnet SRM have been conducted by means of static torque comparison along with dynamic performance. The first prototype from steel laminations up to its physical assembly has been constructed.