• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.609-614
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• 2005

Parallel manipulators have been used for a variety of applications, including the motion simulators and mechanism for precise machining. Since the ball screws used for linear motion of legs of the Stewart-Gough type parallel manipulator provide wider contact areas than revolute joints, parallel manipulators are usually more affected by frictional forces than serial manipulators. In this research, the method for detecting the frictional forces arising in the parallel manipulator using the gravitational force is proposed. First, the reference trajectories are computed from the dynamic model of the parallel manipulator assuming that it is subject to only the gravitational force without friction. When the parallel manipulator is controlled so that the platform follows the computed reference trajectory, this control force for each leg is equal to the friction force arising in each leg. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.1
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• pp.37-43
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• 2016

Friction of mechanical components affects the life and reliability of various machines. In order to improve the wear resistance of mechanical components, grease has been used as a lubricant. However, depending on the operating condition of the machine, the grease may be contaminated with water, which lowers the its lubricating ability. In this work, the effect of the water content on the lubricating ability of grease was investigated. Friction tests using grease were performed between a stainless steel ball and an acrylic plate. Water content in the grease was varied (0, 5, 10 wt.%). It was found that the contact angle varied due to the addition of water in the grease. The friction and wear of the specimens were assessed with respect to amount of water content. Wear of the specimens was relatively severe when water was added. A water content of 10 wt.% resulted in significant lubricant degradation.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.3
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• pp.285-292
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• 2015

This paper presents a wireless ground reaction force (GRF) sensing system for ambulatory GRF recording. The system is largely divided into three parts: force sensing modules based on optical sensor, outsole type frame, and embedded system for wireless communication. The force sensing module has advantages of the low height, robustness to the moment interference, and stable response in long term use. In simulation study, the strain and stress properties were examined to satisfy the requirements of the GRF sensing system. Four sensing modules were mounted on the toe, ball, and heel of foot shaped frame, respectively. The GRF signals were extracted using Micrpcontroller unit and transferred to the smart phone via Bluetooth communication. We measured the GRF during the normal walking for the validation of the continuous recording capability. The recorded GRF was comparable to the off the shelf stationary force plate.

• Korean Journal of Applied Biomechanics
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• v.30 no.3
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• pp.217-223
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• 2020

Objective: The purpose of this study was to analyze the effect of postural sway on the kinematic variables of the putter head during golf putting and to provide information to the importance of postural sway control in the putting stroke for novice golfers. Method: The center of pressure (CoP) and Kinematics variables of the putter head were calculated during 2 m flat golf putting using 8 motion capture cameras (250 Hz) and 2 force plate (1,000 Hz). SPSS 24.0 was used to perform Pearson's correlation coefficient and simple regression analysis, and the statistically significance level was set to .05. Results: As a result of analyzing the correlation between CoP variables and the putter head rotation angle, the CoP moving length, CoP moving range (ML direction), and CoP moving velocity (ML direction) showed a positive correlation with the putter head rotation angle (yaw axis) and were statistically significant. Conclusion: Therefore, In order to perform the accurate putting stroke maintaining the ball's directionality, it is determined that it is important to control posture sway in the ML directions by minimizing the movement and velocity of the CoP.

• Steel and Composite Structures
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• v.25 no.5
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• pp.571-579
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• 2017

The grid structure with bolt-sphere joints is widely adopted by industrial plants with suspending crane. The alternating reciprocating action of the suspending crane will cause fatigue problems of the grid structure with bolt-sphere joints with respect to the rod, the cone, the sealing plate, the bolt ball and the high strength bolt; while the fatigue of the high strength bolt is the key issue of fatigue failure. Based on efficient and smooth loading equipment with the AMSLER fatigue testing machine, this paper conducted a constant amplitude fatigue test on 18 M20 and 14 M30 high strength bolts with 40Cr material, and obtained 19 valid failure points, 9 unspoiled points with more than 2 million cycles, and 4 abnormal failure points. In addition, it established the constant amplitude fatigue design method, ${[{\Delta}{\sigma}]_{{2{\times}10}}{^6=58.91MPa}$, and analyzed the stress concentration and the fatigue fracture of high strength bolts. It can be explained that the geometrical stress concentration of high-strength bolt caused by spiral burr is severe.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.9 s.180
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• pp.2201-2210
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• 2000

Vibration of a rotating disk-spindle system is analyzed by using Hamilton's principle, FEM and substructure synthesis. A rotating disk undergoes the rigid body motion and the elastic deformation. It s equation of motion is derived by Kirchhoff plate theory and von Karman nonlinear strain. A rotating shaft is described by Rayleigh beam theory considering the axial rigid body motion. The stationay shaft supporting the rotating disk-spindle-bearing system is modeled by Euler beam theory, and the stiffness of ball bearing is determined by A.B.Jones' theory. FEM is used to solve the derived governing equations, and substructure synthesis is introduced to assemble each structure of the rotating disk-spindle system. The developed theory is applied to the spindle system of a 35' computer hard disk drive with 3 disks to verify the simulation results. The simulation results agree very well with the experimental ones. The proposed theory may be effectively expanded to the complex structure of a disk-spindle system.

• Journal of Biomedical Engineering Research
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• v.25 no.1
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• pp.65-70
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• 2004

In this paper, we described 23 cases of animal experiment with our pneumatic ventricular assist device and new durability-improvement method. The blood pump consists of blood housing, and back plate made by the injection molding of isoplast, and the diaphragm fabricated by dipping of polyurethane solution onto the aluminum mold. Its volume was 75 $m\ell$ and in-vitro test showed that maximum output was 4.5 $\ell$/min at the 100 mmHg. The adult female sheep with weight of 50 ＋ 10 kg were employed for tile in-vivo experiments and the mean blood flow was sustained at 3.0 1/min. 4 animals survived more than 15 days and the longest survival time was 28 days. In the prior 10 cases, the major causes of death were the tearing of diaphragm at the diaphragm to blood housing junction. By the new mesh and alumina ball milling methods, the durability was enhanced, and its qualitative and quantitative improvement was proved via the in-vivo and in-vitro methods. Animal experiments demonstrated that all the physiologic parameters a ere maintained within the permissible ranges and no thrombus formation was observed through the visual and blood test. The in-vivo experiments demonstrated our pneumatic ventricular assist device to he one month's bridge to transplantation device.

• Aerospace Engineering and Technology
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• v.5 no.2
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• pp.181-187
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• 2006

The present study deals with the experimental facility for PSD (POGO Suppression Device) performance test systems. Basically there are two methods to pulsate the system; whole-feeding-system pulsation and working-fluid pulsation. The latter method adopts either a piston-type pulsator or a restrict-type pulsator. The working-fluid pulsation using a restrict-type pulsator was considered to be the most appropriate experimental system to study the effects of the primary parameters, and a practical design of the system was proposed. Also, the experimental facility adopts the ball valve type pulsator considering the leak problem of the plate type pulsator.

• Journal of the Korean Society of Safety
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• v.7 no.1
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• pp.39-45
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• 1992

The impulsive stress and wave propagation of a glass/epoxy laminate subjected to the transverse low-velocity impact of a steel ball are investigated theoretically and experimentally. A plate finite element model based on Whitney and Pagano's theory In consunchon with experimental contact laws is used for the theoretical investigation. The specimens fo, statical indentation and impact test we composed of ［0/45/0/-45/0］$_{2s}$ and ［90/45/90/-45/90］$_{2s}$ stacking sequences and have clamped-simply supported boundary conditions. Finally, these two results are compared and then the impulsive stress and wave propagation characteristics of this laminated composite are studied.ied.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.20 no.1
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• pp.71-78
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• 1990

This research was made to investigate the change of the image layer and of the vertical and horizontal magnification on the Panelipse radiographic image by the control of profile index. Using the Panelipse, a series of 60 exposures were taken with the steel balls placed in the holes of the plastic model plate, and then evaluated by 4 observers. Two points were assigned for a reading of sharp, one for middling sharp, and zero for unsharp. Each ball image then could be given a total reader score of 0 to 8. The author analyzed the image layer as defined by a sharpness score of 6 or more. The results obtained were as follows: As the profile index was increased, the shape of the image layer was not changed, and the width of the image layer was increased, and the position of the layer shifted away from the rotation center. As the profile index was increased, the ranges of vertical and horizontal magnification was increased, especially the ranges of horizontal magnification was greater than that of vertical magnification.