• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.680-684
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• 1996

Welding systems cannot adapt to changes in the joint geometry which may occur due to a variety of reason. Automatic seam tracking technigue is essential to adjust the welding torch position in real time as it moves along the seam. Automatic tracking system must keep the welding speed constant unrelation to the change of the welding path. Therefore, the information from the laser displacement sensor must be converted into the input to operate the X-Y table and to rotate the desired torch position by proposed algorithm. In this research, laser displacement sensor is used as a seam finder in the automatic tracking system. X-Y moving table manipulated by ac servo motor controls the position and velocity of the torch-and-sensor part. DC motor controls the position and velocity of the torch. X-Y table controls the position of sensor and relative position of torch is controlled by dc motor which is mounted at sensor-and-torch part. Sensor is always ahead of torch to preview the weld line. From the experimental results, we could see the possiblity that the laser displacement sensor can be used as a seam finder in welding process and that the seam tracking system controlled by proposed algorithm is well done.

• 대한기계학회논문집A
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• 제21권12호
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• pp.2121-2133
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• 1997

A finite element code is developed for 3-D self-contact problems, using continuum elements with a SRI(Selective Reduced Integration) scheme to prevent locking phenomenon by the incompressibility of rubber. Contact treatment is carried out in two ways : using the displacement constraints in case of rigid contact ; and imposing the same contact forces on two contact boundaries in case of self-contact. The finite element code developed is applied to the deformation analysis of C.V.joint boots which maintain lubrication conditions and protect the C.V.joint assembly from impact and dust. The boot accompanies large rotation depending on the rotation of the wheel axis and leading to the self-contact phenomena of the boot bellows. Since this contact phenomenon causes wear of the product and has great influence on the endurance life of the product, it is indispensable to carry out stress analysis of the rubber boots. In case of self-contact, various methods for determining contact forces have been suggested with an appropriate contact formulation. Especially, the types of penetration in self-contact are modularized to accelerate conputation with a contact algorithm.

• 한국자동차공학회논문집
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• 제17권2호
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• pp.187-192
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• 2009

A snap ring is a kind of metal spring with open ends which can be installed into a groove to prevent lateral movement. In this study a nonlinear finite element analysis model is developed to simulate the fastening process of a snap ring connecting the constant velocity joint and the transmission. Insert load, disengage load and breakage are three important issues. They are analyzed using the developed model. The load histories of simulations are similar to those of tests and the differences of maximum load are around 10%. Bending of the entire ring and unfolding of the end section are major contributors of the fastening load. The load variations caused by the angular position of spline tooth are about 50%. Breakage is highly sensitive to the position of a snap ring.

• Journal of Computational Design and Engineering
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• 제3권4호
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• pp.312-321
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• 2016

Dynamic behaviour of a slider-crank mechanism associated with a smart flexible connecting rod is investigated. Effect of various mechanisms' parameters including crank length, flexibility of the connecting rod and the slider's mass on the dynamic behaviour is studied. Two control schemes are proposed for elastodynamic vibration suppression of the flexible connecting rod and also obtaining a constant angular velocity for the crank. The first scheme is based on feedback linearization approach and the second one is based on a sliding mode controller. The input signals are applied by an electric motor located at the crank ground joint, and two layers of piezoelectric film bonded to the top and bottom surfaces of the connecting rod. Both of the controllers successfully suppress the vibrations of the elastic linkage.

• 대한안전경영과학회지
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• 제2권4호
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• pp.197-208
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• 2000

ABS sensor ring has been manufactured by powder metallurgy (P/M) method using 400 series ferrite stainless steel. The results are following. It is supposedly sufficient to use for control computer due to good experimental results of magnetic characteristics. Compared with sensor ring made by iron, 400 series ferrite stainless steel has shown a good corrosion resistance without an addition surface treatment. Thus the decreasing production process has been obtained. As a result mechanical characteristics of hardness and tensile test, 400 series ferrite stainless steel shown a good endurance when it is combined to constant velocity joint(C/V), and has a good hardness properties endurable to sand and pebble impact. The products before sintering are much more corrodible in the condition of spray test of salt water and ammonia than humidity and nitrogen condition.

• 터널과지하공간
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• 제20권2호
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• pp.82-91
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• 2010

그라우팅 공법은 지하 내 구조물을 건설 시 유입되는 지하수를 억제하거나 암반의 강도를 증대시킬 목적으로 널리 이용되는 암반 개량공의 일종이다. 암반 내 불연속면을 따라 유동하는 그라우트의 유동 특성을 파악하는 것은 이러한 그라우팅 설계 및 그 효과를 예측하는데 필수적이다. 기존의 그라우트 유동 연구에서 그라우트 유동을 층류 유동으로 가정해 왔으나, 마이크로 스케일의 간극을 가지는 좁은 절리 틈새 내에서의유체 유동은 절리 거칠기의 영향을 받아 유동의 속도 단면이 거칠기 부분에서 변하기 때문에 일반적인 층류유동으로 모사하는 데 한계가 있다. 따라서 본 연구에서는 거칠기를 가지는 절리 내의 그라우트 유동에 절리 거칠기와 간극이 미치는 영향을 수치해석을 이용하여 조사하였다. 수치해석을 위해 전산유체유동해석 코드인 FLUENT 코드를 이용하였으며 FLUENT 코드에서 제공하는 Herschel-Bulkely 모델과 VOF(volume of fluid) 모델을 적용하여 물과 공기로 채워진 좁은 절리 틈새 내의 그라우트 유동을 모사하였다. 모사된 결과를 그라우트 유동을 위해 제시된 분석해와 기존의 실험실 그라우트 주입 실험 결과와 비교하여 FLUENT 코드의 적합성을 검증하였다. JRC와 간극 변화에 따라 일정 그라우트 주입량 유지에 필요한 주입압을 계산함으로써 마이크로 스케일의 절리 틈새 내 그라우트 유동시 채널 벽면의 거칠기 및 채널 간극의 영향을 정량화하였다.

• 한국운동역학회지
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• 제13권3호
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• pp.163-180
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• 2003

This paper aims at collecting the guantitative data of kenematic variables by analysing the gait patterns of the normal adult men and the handicapped. The gait motions were taped with 4 video cameras, the cinematographic analyses were performed by the DLT technique of three dimensional image treatment. The following results were obtained in the analysis of the variables: 1. The ratio of stance time and swing time did not show any significant difference in the groups of the normal men and the handicapped when both foot of the former and the right feet of the latter were compared. The stride peeriod time of these two groups were 1.12 and 1.11 second, respectively. 2. In the handicapped group, the step width was wider, the step length and stride length were shorter, and especially, the step length of the right foot was shorter, 3. The small vertical displacement of left toes of the handicapped group showed that the heal contact and the left midstance are almost simultaneous. 4. The two groups have almost the same horizontal displacement of the center of gravity and the same vertical rate of extension. In view of the velocity of the center of gravity the normal adults showed the constant speed of movement. However, the handicapped adults were reduced from the right midstance to the right toe-off. 5. The handicapped showed prominently low angle on the left toe-off in the ankle joint angle, they also had the tendency to walk in the patterns of extended knee in the knee joint angle. Both the handicapped and the normal had the hyperextension on the toe-off in the hip joint angle. In the back and front angle of body, both showed the slightly back-sided walking positions. 6. Both groups had the abduction of both feet in foot placement angle, but the handicapped did not show serious abduction of left midstance.

• 한국공작기계학회논문집
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• 제16권5호
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• pp.1-6
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• 2007

This paper presents a new experimental Servo-Parameter tuning technique for a 6-axes articulated robot manipulator, especially considering robot's dynamics. First of all, investigation for proportional gain of velocity control loop by using a Dynamic Signal Analyzer(DSA) is performed. Using the FUNCTION characteristic of DSA based on the Bode plot, the Bode plot of open loop transfer function can be obtained. In turn, the integral gain of a servo controller can be found out by using the integration time constant extracted from the Bode plot of open loop transfer function. In the meanwhile, the positional gain of the servo controller can be obtained by using the Bode plot of the closed loop transfer function. Using the experimental gain tuning technique proposed in this paper, the testing linear motion of DR6-II robot has been shown to be more accurate rather than the motion with a conventional(empirical) gain tuning technique in Doosan Mecatec Co., Ltd., by improving the dynamic response of the robot as well as synchronizing each joint velocity according to the positional command of an end-effector.

• Journal of Welding and Joining
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• 제13권4호
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• pp.122-131
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• 1995

An automatic welding equipment for thick plates requires the capability of the seam tracking of the weld line which often includes misalignment of the workpiece and variation of groove width. In this study, an automatic welding equipment and control algorithms based on the arc sensor were proposed for the GMA welding of thick plates which had misalignment and gap variation. The developed system being constituted with 5 axis can be automatically controlled by computer and also automnatically set the welding conditions such as welding current, and voltage. The proposed algorithms for the seam tracking in multi-pass welding of the thick plates were constituted as follows : the detection of weaving-end point for findng the variation of groove width, the control of welding velocity for acquiring a constant thickness deposition of weld metal, and the calculation of groove width and height of an arbitrary pass in the multi-pass weld. As results of the application of the system, it was revealed that the system had a good capability in seam tracking and made an excellent weld quality in V groove butt joint.

• 대한기계학회논문집A
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• 제40권11호
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• pp.979-986
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• 2016

등속조인트의 일종인 트리포드 축은 동력전달용으로 고속열차의 KTX와 KTX-산천에 모두 적용되고 있으며, 동력대차에서 모터 감속장치(MRU)와 차축 감속장치(ARU)를 연결해 고속회전동력을 전달하는 핵심 요소이다. 축 방향의 미끄럼 운동이 가능한 트리포드 축은 열차 구동을 위한 토크를 전달하며, 동력전달 시스템에 과토크 발생 시 축의 퓨즈부가 절단되어 동력을 차단한다. 본 연구에서는 리니어 액추에이터를 이용한 대용량 비틀림 시험장치의 개발과 이를 이용한 트리포드 축의 정적 비틀림 강도와 피로수명을 확인하고자 하였다. 또한 구조해석을 통해 축의 취약부를 파악하고 비틀림 피로해석 결과와 실제 피로시험의 결과를 비교분석하여 비틀림 성능 개선을 위한 설계안을 제시하고자 하였다. 한편 트리포드 축의 피로에 따른 열화를 파악하기 위해 히스테리시스 곡선을 이용하였으며, 히스테리시스 곡선의 기울기 변화를 통해 피로고장 시점을 확인하였다.