• 한국정밀공학회지
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• 제23권6호
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• pp.128-135
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• 2006

Rational dynamic modeling and analysis method f3r complex structures are studied with special attention to slide way joints. For modeling of slide way joints, a general modeling technique is used by using the influence coefficients method which is applied to the conversion of detailed finite element model to the equivalent reduced joint model. The theoretical part of this method is illustrated and the method is applied to the structure with slide way joint. In this method, the non-linearity of the contact surfaces is considered within a proper range and the boundary effect of the joint model could be eliminated. The proposed method was applied to finite element modal analysis of a clamp jointed cantilever beam and slide way joints of the vertical type lathe. The method can also be used to other kinds of joint modeling. The results of these analysis were compared with those of Yoshimura models and rigid joint models, which demonstrated the practical applicability of the proposed method.

• 로봇학회논문지
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• 제3권1호
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• pp.9-15
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• 2008

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human''s superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG) signals and limb position measurements. The EMG signal is the summation of MUAPs (motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN) model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.

• Tribology and Lubricants
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• 제25권4호
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• pp.231-235
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• 2009

In this study, the influence of contact pressure on the variation in coefficients of friction between porcine knee joint cartilage and Co-Cr alloy in a repeat pass sliding motion was investigated. Flat-ended cartilage pin specimens(9 mm diameter, 8 mm long) were prepared from porcine(6 months old) knee joints by a drill-type punch. Friction tests were conducted by using a pin-on-disk type friction tester for an hour in PBS lubricated condition under the contact pressures of 0.5, 1 and 2 MPa with 50 mm distance per a cycle at ambient condition. As a result, coefficients of friction increased as the test duration increased for all contact pressures. The maximum coefficients of friction were 0.082, 0.06 and 0.098 for 0.5, 1, and 2 MPa, respectively. It showed that coefficients of friction of porcine knee joint cartilage against Co-Cr alloy depended on the level of contact pressure and related to squeeze film lubrication mechanism.

• 한국소음진동공학회논문집
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• 제18권8호
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• pp.849-855
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• 2008

다양한 조임 조건에서 기계적 조인트의 컨택 특성 파라미터를 유도하기 위하여 컨택 공진을 기반으로 하는 실험적 방법을 개발하였다. 기계적 조인트의 전단 컨택 강성과 감쇠의 파라미터는 접촉 표면간의 표면 처리, 윤활 유무, 그리고 조임력과 전단력의 의한 영향과 같은 여러 가지 물리적 조인터 파라미터와 연계하여 고찰하였다. 제안된 실험적 방법을 사용하여 전단 컨택 강성 값은 조임력과 전단력이 커짐에 따라 증가하는 것을 발견하였다. 또한 컨택 감쇠 비 값은 대부분 조임력과 상관없이 일정 값을 나타내지만 전단력이 커짐에 따라 감소하였다. 추가로, 전단 강성 값과 컨택 감쇠 비는 매끄러운 표면에서보다 거친 표면에서 더 크게 나타남을 알 수 있었다.

• 한국생산제조학회지
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• 제22권1호
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• pp.156-161
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• 2013

Recently, there has been a trend in the manufacturing process to focus on the durability of cable lug joint, especially in welding process due to the poor cable lug joint causes many troubles on products and workers during manufacturing process. Therefore development of high quality cable lug joint is important for successful manufacturing process and safety of worker. The Magnetic Pulse Forming(MPF) is one of efficient way to developed a high quality cable lug joint. In MPF, a high strain rate forming process, utilizes a high velocity oblique collision on the workpiece to be formed in required shape. The objective of this paper is to develop of high quality cable lug joint using electromagnetic force. To successfully accomplish this goal, section and electrical contact temperature of developed cable lug joint has been compared with various cable lug joint. Electrical contact temperature of developed cable lug joint by electromagnetic force is lower than manufactured cable lug joint by pressurer and hydraulic pressurer.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 춘계학술대회논문집; 경주코오롱호텔; 22-23 May 1997
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• pp.69-74
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• 1997

In this paper we derive relations which describe the geometry and kinematics of contact between the travelling wheel and stepped comb joint. From which we can obtain the impulse, impulsive force and its time interval due to travelling wheel impact which can not be taken from Carter's model or Newland and Cassidy's. The calculated transient responses of the comb joint structure to travelling wheel impact reveals that the proposed wheel contact model and Carter's give very similar results but Newland Cassidy's model make a quite different results from the others.

• Progress in Superconductivity
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• 제14권1호
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• pp.1-10
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• 2012

We fabricated a closed coils by using resistive-joint method and the joint resistance of the coils were estimated by field decay technique in liquid nitrogen. We used the Runge-kutta method for the numerical analysis to calculate the decay properties. The closed coil was wound by $(Bi,Pb)_2Sr_2Ca_2Cu_3O_x$/Ag tape. Both ends the tape were overlapped and soldered to each other. The current was induced in a closed coils by external magnetic flux density. Its decay characteristic was observed by means of measuring the magnetic flux density generated by induced current at the center of the closed coil with hall sensor. The joint resistance was calculated as the ratio of the inductance of the loop to the time constants. The joint resistances were evaluated as a function of critical current of loop, contact length, sweep time, and external magnetic flux density in a contact length of 7 cm. It was observed that joint resistance was dependent on contact length of a closed coil, but independent of critical current, sweep time, and external magnetic flux density. The joint resistance was measured to be higher for a standard four-probe method, compared with that for the field decay technique. This implies that noise of measurement in a standard four-probe method is larger than that of field decay technique. It was estimated that joint resistance was $8.0{\times}10^{-9}{\Omega}$ to $11.4{\times}10^{-9}{\Omega}$ for coils of contact length for 7 cm. It was found that 40Pb/60Sn solder are unsuitable for persistent mode.

• 한국초전도ㆍ저온공학회논문지
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• 제6권4호
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• pp.17-21
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• 2004

The butt joint was verified to satisfy the thermal stability of the ITER magnet system through the ITER CS model coil test. Since the contact area in the butt joint is limited to the cross section of the cable, it is necessary to analyze and control the joining parameters precisely for improving the DC resistance. It is difficult to simulate the cables, which are composed of a lot of strands, as three-dimensional models using the commercial code. The random numbers were used to simulate many kinds of contact patterns of the strands on the bonding surface for calculating the bonding area and the DC resistance of the butt joint. The calculated DC resistance decreases with an increase of cable filling factor in terminal. The calculated DC resistance of a 0.9 cable filling factor is about 0.48 n-Ohm, which is about one-tenth of that in the CS model coil test when not considering the electrical contact resistance. From this difference, the electrical contact resistance between the strands and copper sheet was calculated.

• 대한기계학회논문집A
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• 제29권2호
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• pp.176-187
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• 2005

This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.

• 대한기계학회논문집A
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• 제24권2호
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• pp.411-420
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• 2000

This paper presents a new method for calculating contact position and contact force. The proposed method calculates accurate contact position by introducing intermediate parameters. Accurate contac t force can be obtained by solving reduced equations of motion iteratively. This method can be applied to calculate not only contact force on contact points but also contact force on kinematic joints such as a rotational joint and a translational joint. Four numerical examples are given to demonstrate the effectiveness of the proposed algorithm.