• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.887-898
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• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.52-56
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• 1990

An algorithm is proposed to determine the optimal contact forces of robotic hands, where the soft finger contact as well as the frictional point contact are considered. Especially, the algorithm can be efficiently applied to the case of multi-point contact by inner-link as well as fingertip. To show the validities of the algorithm, several numerical exampies are presented by employing a robotics hand with three fingers each of which has four joints.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.5
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• pp.609-615
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• 2010

Angular contact ball bearings in a high speed spindles are under the extreme conditions, such as high temperature, big centrifugal force and thrust cutting forces. So, the assembly contacts between spindle shaft and inner ring bearings, bearing housing and outer ring of bearings are occasionally unstable at high speed revolution. Furthermore, the ball contact angle of a bearing, which influence stiffness and lifetime of bearings, are changed according to loads and rotational speed. To analyze internal forces of a bearing under high speed revolution, the ball contact are calculated using nonlinear equations in consideration of rotational speed, thrust loads and raceway form. Diameter increase of inner and outer ring by influence factors, such as internal forces to inner and outer ring, centrifugal force and temperature of inner and outer rings are calculated to establish stable state in bearing assembly in high speed spindle. Finally, contribution ratio of influence factor to assembly design tolerance of inner and outer rings are shown and the stable assembly design tolerance are proposed.

• Transactions of the Korean Society of Mechanical Engineers
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• v.12 no.3
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• pp.457-465
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• 1988

The inside contact characteristics in abrasive belt drives were investigated analytically and experimentally for (1) driver pulley contact wheel and (2) driven pulley contact wheel. The concentrated contact forces in the grinding zone divided the entire belt-pulley contact are by three distinct areas and the tangential friction forces in the active areas caused the normal forces to change, which resulted in the different belt force distribution compared with those of the ordinary flat belt drives. The experimental results for the normal pressure (belt tension) distribution were in good agreement with the theoretical results.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1424-1429
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• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• Journal of Mechanical Science and Technology
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• v.20 no.6
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• pp.806-818
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• 2006

The shear spinning process, where the plastic deformation zone is localized in a very small portion of the workpiece, shows a promise for increasingly broader application to the production of axially symmetric parts. In this paper, the three components of working force are calculated by the newly proposed deformation model in which the spinning process is understood as shearing deformation after uniaxial yielding by bending, and shear stress, $\tau_{rz}$ becomes $\kappa$, yield limit in pure shear, in the deformation zone. The tangential forces are first calculated and the feed forces and the normal forces are obtained by the assumption of uniform distribution of roller pressure on the contact surface. The optimum contact area is obtained by minimizing the bending energy required to get the assumed deformation of the blank. The calculated forces are compared with experimental results. A comparison shows that theoretical prediction is reasonably in good agreement with experimental results.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1652-1655
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• 2005

All teeth on the cycloidal plate gear exist in the contact motion with rollers and the forces are interacted between roller gears with cycloidal plate gears. So, the contact forces and friction forces must be required to improve the accuracy in design procedures of cycloidal speed reducers. This paper presents a force analysis considered the friction effect approach derived by static force equilibrium condition, geometrical adaptation, instant velocity center method and relative velocity method. Finally, the paper develops CAD-program for the construction of the design automation using the proposed method.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.411-421
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• 2005

The development and implementation of an appropriate methodology for the accurate geometric description of track models is proposed in the framework of multibody dynamics and it includes the representation of the track spatial geometry and its irregularities. The wheel and rail surfaces are parameterized to represent any wheel and rail profiles obtained from direct measurements or design requirements. A fully generic methodology to determine, online during the dynamic simulation, the coordinates of the contact points, even when the most general three dimensional motion of the wheelset with respect to the rails is proposed. This methodology is applied to study specific issues in railway dynamics such as the flange contact problem and lead and lag contact configurations. A formulation for the description of the normal contact forces, which result from the wheel-rail interaction, is also presented. The tangential creep forces and moments that develop in the wheel-rail contact area are evaluated using : Kalker linear theory ; Heuristic force method ; Polach formulation. The methodology is implemented in a general multibody code. The discussion is supported through the application of the methodology to the railway vehicle ML95, used by the Lisbon metro company.

• Journal of the Korean Society for Railway
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• v.19 no.1
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• pp.20-28
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• 2016

Curved squeal noise may result when railway vehicles run on curved tracks. Contact between the wheels and the rails causes a stick-slip phenomenon, which generates squeal noise. In order to identify the mechanism of the squeal noise systematically, a scaled test rig has been fabricated. Knowledge of the contact forces between the wheels and the rail rollers is essential for investigating the squeal noise characteristics; however, it is difficult to measure there contact force. In this study, contact forces have been calculated indirectly according to the modal behavior of the subframe that supports the rail roller and the responses at specific positions of that subframe. In order to verify the estimated contact forces, the displacements at the contact points between the wheels and rail rollers have been calculated from the estimated forces; the resulting values have been compared with the measured displacement values. The SPL at the specific location has been calculated using the estimated contact forces and this also has been compared with the SPL, measured in a semi-anechoic chamber. The comparisons in displacements and SPLs show good correlation.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.40 no.8
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• pp.825-835
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• 1991

This paper deals with a case for robotic hands to grasp the objects using inner link contact as well as fingertip contact. And the case is proved to be more efficient than the case of using only fingertip contact in terms of stability and uniform distribution of the contact forces. The general algorithm for the determination of the optimal ocntact force is developed for the soft finger contact as well as the point contact with friction. To show the validity of the proposed algorithm a numerical example is illustated by employing a robotic hand with three fingers each of which has four joints.