• Proceedings of the Korean Nuclear Society Conference
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• 2001.10a
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• pp.354.2-354
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• 2001

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1445-1449
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• 2005

The ram assembly is important equipment in fueling machine of PHWR(Pressurized Heavy Water Reactor) plant where fuel replacement is possible while the plant is in service. Troubles in the ram assembly can cause lots of difficulties in power plant operation. The ram assembly is typically composed of the B-ram, the L-Ram and the C-Ram. The B-ram is focused in this paper because it plays the most important role in the ram assembly. Among the ram fault phenomena, ram stuck phenomena are the most frequent cases in the B-ram, which has a ball screw mechanism driven by a hydraulic motor. Ram stuck phenomena are due to ball wear and damage in ball nut that increase in proportion to the number of fuel replacement. It is required to predict ram stuck phenomena before they occur. In this paper, a method is proposed for predicting ram stuck phenomena using a discrete wavelet transform. The discrete wavelet transform provides information on both the time and frequency characteristics of the input signals. The proposed method uses the frequency bandwidths of coefficients of discrete wavelet decompositions and detail coefficients of discrete wavelet transform to predict ram stuck phenomena. The signal used in this paper is a torque-related signal such as a hydraulic service outlet pressure signal in a hydraulic driving system or a current signal in a DC motor driving system. Finally, the validity of the proposed method is shown via experiment using ball nut characteristic test equipment that simulates ram stuck phenomena due to increased ball friction in ball nut.

• KSTLE International Journal
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• v.4 no.2
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• pp.43-46
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• 2003

Water-lubricated frictional characteristics of a stainless steel ball bearings are not well known compared to the oil-lubricated frictional characteristics. Furthermore a study on friction at a high temperature is rare because the bearing maintenance strategy for water-lubricated or chemicals-lubricated bearings of equipment is generally based on the replacement of the failed bearings-and parts. Ball bearings and ball screw are installed in the power transmission for the newly developing integral reactor and these are lubricated with chemically-controlled pure water at a high temperature and a high pressure. Bearings and power transmitting mechanical elements for an atomic reactor requires high reliability and high performance during the estimated lifetime, and it should be verified. In this paper, experimental research results of the frictional characteristics for water-lubricated ball bearings are presented as a preliminary investigation.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.12
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• pp.3822-3827
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• 1996

In this study, the ways of calculating the efficiency of ball screws are presented to fix the design variables effectively. To calculate the efficiency of ball screws, the frection coefficient is needed to be deduced. Therefore it is deduced measuring the preload torque of double nut ball screws of which the preload can be varied by springs. The efficieny of ball screws and the mazimum efficiency condition are calculated with the deduced friction coefficient. In addition, the characteristic of friction and lubrication is considered.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.2
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• pp.157-161
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• 2015

For machining systems having a high precision positioning with a long stroke, it is necessary to examine the repeatability of reference position decisions. Though ball-screw driven linear stages equipped with encoders have high precision feed drivers and a long stroke, they have some limitations for reference position decisions if they have not been equipped accurate home sensors. High precision machining technology has become one of the most important aspects of the development of a precision machine. Such a machine requires high precision positioning as well as high speed on a large workspace. This study is performed to experimentally compare the repeatability for home position decisions in the case of photo sensors and hall sensors as a home switch of the ball-screw driven linear stage.

• Journal of international Conference on Electrical Machines and Systems
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• v.2 no.4
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• pp.380-389
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• 2013

Application of linear electric motors to automation of manufacturing processes, gantry robots, machining processes, machining centers, additive manufacturing and laser scribing has been discussed. The paper focuses on replacement of ball lead screw mechanisms with linear electric motors, linear motor driven positioning stages, linear motor driven gantries, machining centers, machining of large objects and industrial lasers. The best linear electric motors for application to machining processes are permanent magnet (PM) linear synchronous motors (LSMs), especially those without PMs in the reaction tail, e.g., high thrust density linear (HDL) LSMs and PM flux switching (FS) LSMs.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.5
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• pp.5-14
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• 2003

Tracking control schemes on the precise mechanical system in presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the bristle friction model to compensate fer effects of friction. The conventional SMC method often shows poor tracking performance in high-precision position tracking application since it cannot completely compensate for the friction effect below a certain precision level. Thus to improve the precise position tracking performance, we propose the SMC method combined with the disturbance observer having tunable transient performance. Then this control scheme has the high precise tracking peformance as well as a good transient response when it is compared with the conventional SMC method and the similar types of observers, The experiment on the XY ball-screw drive system with the nonlinear dynamic friction confirms the feasibility of the proposed control scheme.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.820-825
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• 2007

A ballscrew-linear motion(LM) guide is well-described by its name: it is a LM guide that runs by ballscrew. It consists of LM rail, LM block, end plate, screw, nut and bearing balls. The ballscrew-LM guide has many advantages compared with conventional LM guide. The high efficiency achieved with rolling contact devices permits the employment of antibacklash methods. The balls provide the only physical contact between nut rail and block and ball screw and nut replacing the sliding friction with a rolling motion. The life of the ballscrew-LM is determinated by the balls. The objective of this paper is to introduce the design of the ballscrew-LM with the safety working load.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2006.10a
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• pp.178-183
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• 2006

Effect of coulomb friction and backlash on the single loop posit ion control has been studied for the precision position control. We studied and showed the limit cycle on the single loop system which used a ball screw that had the backlash. Also, We made an inner loop with a classical velocity and torque controller which was forcing the $i_d$ current to be zero by using a permanent-magnet synchronous motor and composed the outer loop with linear sensor for sensing a position of the loader. We have been shown a good result by using the dual loop through numerical simulation method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.15-18
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR performed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.