• Title/Summary/Keyword: Ball control

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Development of 3 DOF Parallel Spherical Robot for Artificial Eyeball (인공안구 구현을 위한 병렬 구조의 3자유도 회전 로봇 개발)

  • Park, Sung Ryung;Yang, Seung Han
    • Journal of the Korean Society for Precision Engineering
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    • v.31 no.6
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    • pp.535-541
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    • 2014
  • In this research, three degree-of-freedom parallel spherical robot is developed for an artificial eyeball. The proposed system is comprised of a moving and a base plate, three prismatic actuators, and a ball joint for an angular movement of the moving plate. The vector analysis is employed to investigate the relationship between positions of the actuators and a pose of the moving plate. The required ranges for every actuators are calculated using the derived inverse kinematics in regard to the combination of two different levels for the size of the system component. Then the size of every components is determined from the analyzed trend. PI controller is employed for the position control of the moving plate. Finally the proposed system is verified using an arbitrary path of the angular movement.

Application of SFRC on the Protection Structure(SPIN TESTER) (방호 구조물에 강섬유보강 콘크리트의 적용)

  • 이제방;이석홍;허택녕;소양섭
    • Proceedings of the Korea Concrete Institute Conference
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    • 1997.04a
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    • pp.521-526
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    • 1997
  • The Spin Tester(High Speed Balancing and Overspeed Test Facility), which is designed for the quality control of turbine, generator, and rotors was supposed to be constructed with the use of Steel Fiber Reinforced Concrete(SERC) for reducing the risk of accident while operation. However, it was very existence of fiber concrete due to there are two major concern in the SFRC work: one is existence of fiber ball due to inhomogeneous mixing, the other is the segregation of the concrete materials. To avoid these possible problems, the S/a was controlled about 55% to reduce the segregation and the high range AE water reducing agent was used to maintain the slump over the value of 18cm. With these careful consideratons, the SFRC work was done successfully by only using regular equipments like pump car and vibrator.

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A Simple Hierarchical fuzzy Controller (단순한 형태의 계층 퍼지 제어기)

  • Joo, Moon-G.;Lee, Jin-S.
    • Proceedings of the KIEE Conference
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    • 1998.11b
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    • pp.505-507
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    • 1998
  • In this paper, a simple hierarchical fuzzy inference system using structured Takagi-Sugeno type fuzzy inference units(SFIUs) is proposed. The number of fuzzy rules of the proposed HFIS is minimum in the sense of that only the number of partitions of each system variables, not of intermediate outputs of layered fuzzy controllers, are concerned. And resulted number of fuzzy rules is a summation of partition in each system variables. Gradient descent algorithm is used for adaptation of fuzzy rules. The ball and beam control is performed in computer simulation to illustrate the performance of the proposed controller.

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A Study on the Experiments and Characteristics Analysis of the Bellows Type Rodless Cylinder (벨로우즈형 로드리스 실린더 특성해석 및 실험에 관한 연구)

  • Kim, Dong-Soo;Kim, Sung-Jong;Bae, Sang-Kyu
    • Proceedings of the KSME Conference
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    • 2004.04a
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    • pp.973-977
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    • 2004
  • A pneumatic cylinder used to sliding seal which seal the element one to another in relative motion. It is difficult to accuracy control because of adhesion phenomenon. To confirm this phenomenon, it is carried to friction force test and analysis for bellows type rodless cylinder. In the rodless cylinder of this type, friction force test is very important. Through the theoretical analysis of shock absorber obtained the optimal design of bellows type rodless cylinder. As the result of the friction force test, LM Guide type is suitable for work under low friction force.

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Analysis and Design of a Main Starting Valve Using Independence Axiom (독립공리를 이용한 메인 스타팅 밸브의 분석 및 설계)

  • Bae, Tae-Sung;Park, Soo-Chul;Park, Sang-il;Lee, Kwon-Hee
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.9 no.5
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    • pp.7-13
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    • 2010
  • Main starting valve is one of the main parts in the control system of diesel engines, purposed for starting main engines. It is composed of ball valve, check valve, actuator, etc. The design axioms provide a general framework for design methodology. Two axioms are independence axiom and information axiom. These axioms can be applied to all design process in a general way. The first axiom is introduced to analyze and evaluate the design of a main starting valve. The design parameters(DPS) are determined sequentially by considering the independence axiom. For the structural design of a main starting valve, the strength is calculated by using finite element method. In addition, the strength of its actuator piston is evaluated.

Development of High Speed & Precision Mould/Die Machining Center III (고속.고정밀 금형가공센터 개발 III)

  • 최원선;이창호;박보선;김태형
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2002.10a
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    • pp.429-435
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    • 2002
  • In order to manufacture a precision mold/die by machining, users need high speed & precision mold/die machining center. So, for development of this machine, we intend to use linear motor that is instead of ball-screw, servo-motor and coupling, high-speed spindle of pressurized air journal bearing and composite materials. In this paper we research column moving type and table moving type. The former is mainly piling 3 axes on one moving body, the latter is consist of two independent carriages. Both types are available to high speed & precision machine, but we finally draw a conclusion column moving type due to an advantage of high-speed control of linear motor.

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The Design of a Speed-position Controller using a Parameter Estimation Method for the Linear Brushless DC Motor (파라미터 추정방법을 이용한 선형추진브러시리스 직류전동기의 속도-위치제어기 설계)

  • 박성수;최중경;변지섭;윤성은;류정오
    • Proceedings of the IEEK Conference
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    • 2001.06e
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    • pp.143-146
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    • 2001
  • Servomotors, especially linear brushless servomotors have numerous advantages over ball screws, timing belts, rack/pinion drives and friction drives compared wi th rotary servomotors This paper proposes an linear regression method as the estimated ion of unknown parameters from the linear brushless DC motor The estimated parameters are used to tune the gain of controller. In order to agree with this purpose, Digital Signal Processor (TMS320F240), developed for implementation of the motor control, is adopted in this study. The processor playing an important role in controller has A/D converters, PWM generators, riched I/O ports internally.

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Preparation of Granule Powders for Thermal Spray Coating by Utilization of Pyrophyllite Minerals

  • Kim, Yong-Hyeon;Shin, Pyung-Woo;Lee, Sang-Jin
    • Journal of the Korean Ceramic Society
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    • v.53 no.5
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    • pp.557-562
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    • 2016
  • Pyrophyllite granule powders for thermal spray coating were successfully prepared through spray drying process. To produce a stable slurry, commercial pyrophyllite powder of 45μm in size was ball-milled for reduction of the size to 23μm and a dispersant was added to control the viscosity. Dense and spherical granules (average granule size : 59μm) were prepared under conditions of 12,500 rpm for rotation velocity of the atomizer and 100 cps for slurry viscosity. The granules were then heat treated at 1,200C for proper handling strength and flow properties. The final granules had an apparent density of 0.725g/cm3 and a flow rate of 2.5 g/sec, which represent excellent properties to be used as the granule powder for thermal spray coatings.

Development of Ceramic Arc-tube by the PIM Process

  • Rhee, Byung-Ohk;Choi, Seung-Chul;Park, Jeong-Shik;Kim, Byoung-Kyu;Kim, Hyung-Soo;Kim, Sang-Woo
    • Proceedings of the Korean Powder Metallurgy Institute Conference
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    • 2006.09a
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    • pp.205-206
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    • 2006
  • A ball-shape alumina arc-tube for low-wattage lamp was developed by the PIM process. An ultra high purity translucentgrade alumina powder was used. In injection molding process, a hot-runner type mold was developed. The translucent-grade alumina powder was extremely sensitive to contamination so that the injection molding condition and atmosphere control in the furnace should be taken care of with extreme caution. Contamination sources were pinpointed with EPMA. The arc-tube was molded in half and two halves were bonded in the middle by a new bonding technique at room temperature developed in this study.

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Phase Changes of Mechanically Alloyed TiNi Powders by Heat-treatment and Microstructural Properties in the Al/TiNi Sintered Materials (기계적합금화시킨 TiNi 분말의 열처리조건에 따른 상변화 및 Al/TiNi소결체 내에서의 미세조직 특성)

  • 차성수
    • Journal of Powder Materials
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    • v.3 no.3
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    • pp.174-180
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    • 1996
  • Microstructure and phase transformation of mechanically alloyed TiNi powders added to aluminium matrix for enhancing the damping properties were studied. Four compositions between 48.5 and 51.5 at% Ti intermetallic compounds were selected to control the fraction of martensite phase. Mechanically alloyed TiNi powders were heat-treated at vacuum of 106 torr for crystallization. Ball milled AI/TiNi composite powders were swaged at room temperature and rolled at 450 C. After mechanical alloying for 10 hours, Ti and Ni elements were alloyed completely and amorphous phase was formed. Amorphous phase was crystallized to martensite (Bl9') and austenite(B2) after heat treating for 1 hour at the temperature of 850 C, and TiNi3, intermetallic compound was partially formed. Considerable amount of martensite phase was remained after swaging and rolling.

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