• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.161-172
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• 2017

Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.

• Journal of Power System Engineering
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• v.14 no.4
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• pp.37-42
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• 2010

This paper deals with the sealing mechanism of the gasket component and the effects of design parameters for the exhaust manifold. The finite element model includes hot-end exhaust system and a simplified gasket model supplied by ABAQUS software. The mechanical behaviors of bead and body of a gasket are measured after several times of cyclic loads by gasket supplier. From the finite element analysis due to the cyclic thermal loads, the flange of exhaust manifold shows thermal expansion and contraction in longitudinal direction as well as convex and concave deformations with respect to the engine cylinder head. And, the contact pressures of the gasket beads suddenly changes by normal deformation of inlet flanges. Therefore, the magnitudes of contact pressures could be used to determine the sealing characteristics of the exhaust gas in the exhaust system. The distributions of contact pressures in gasket bead lines shows a good agreement with the engine test results.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.171-177
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• 2002

This paper presents the inertial force problem of ultrahigh-speed injection molding machine using linear motors, and presents its solutions. To make very thin products by injection molding, very high injection speed is required, and linear motors are used for this purpose. But direct drive by linear motors may cause brief nozzle separation from the sprue bushing because of the inertia force as large as the total output thrust of the linear motors, and this momentary separation can cause molten plastic leakage. In this paper, two solutions are proposed for this inertia force problem. One is the mechanical cancellation of the inertia force, and the other to increase the nozzle contact force. With the latter solution, the stationary platen bending worsens, so a new nozzle contact mechanism is also proposed, which can prevent the stationary platen bending.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.4
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• pp.629-636
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• 2001

In order to investigate the possibility of impact punching in brittle materials, an experimental setup was developed. In the setup, a long bar as a punch was used to apply the impact load to the specimen plate and measure the applied impact force during the impact punching process. Impact punching tests with various shape of punches were performed in soda-lime glass and silicon wafer under a different level of contact pressure. The damage appearance after the impact punching was examined according to the applied contact pressure. The minimum contact pressure required for a complete punching in glass specimens without development of radial cracks around the punched hole was sought at each condition. The minimum contact pressure increased with increasing the thickness of specimens and decreasing the end radius of punches. The profile of impact forces was measured during the impact punching experiment, and it could explain well the behavior of the punching process in brittle material plates. The measured impact force increased with increasing the contact pressure applied to the plates.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1355-1356
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• 2011

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.518-520
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• 2007

Since all essential property of semiconductor materials are structure-sensitive, the understanding of the deformation mechanism and the deformed structure which can be formed in the nanometer-scale devices is very crucial. To investigate the deformation mechanism and the corresponding structures, nanometer-scale contact loading simulations are carried out using molecular dynamics in silicon and gallium-arsenide.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.05a
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• pp.53-55
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• 2006

본 논문은 청소 로봇 메카니즘을 위한 소프트 팁의 접촉력을 제어하기 위한 방법을 제안한다. 제안한 방법에 사용하면, 어떤 소프트 팁의 기하학적인 탄성 모델을 근거로, 청소작업이 수행되는 동안 소프트 팀에 작용되는 접촉력을 팁의 압축변위 정도에 따라 적절히 판단할 수 있다. 이것을 청소 로봇 메카니즘에 탑재된 매니퓰레이터의 위치제어 변위로 활용함으로써, 소프트 팁의 적절한 접촉상태를 유지하는 것이 가능해진다.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.159-163
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• 2022

A linearly moving structure in the area where the friction force is dominant - such as ducts filled with grease in the nuclear power plant - experiences increase in friction since the contact surface gets larger as the structure proceeds. To solve this problem is critical for the pipe inspection robot to investigate further area and this makes the system more energy-efficient. In this paper, we propose a passively growing sheath that can be added to linearly moving structures using zipper mechanism. The mechanism enables the linearly moving structures to maintain rolling contact condition against external environment, which provides substantial reduction in kinetic friction. To analyze the effect of the mechanism's head shape, we establish a physical model and compare to the experimental results. Finally, we have shown that the passively growing sheath can be successfully applied to the pipe inspection robot for the nuclear power plant.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.3
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• pp.33-41
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• 2014

Fretting is a kind of surface degradation mechanism observed in mechanical components and structures. When two pieces of materials, pressed together by an external static load, are subjected to a transverse cyclic loading or various vibrations, so that one contacting face is relatively displaced cyclically parallel to the other face, wear of the mating surfaces occurs. These fretting damages may be observed in electrical connectors for automotive components, where there are special environments and various vibration conditions. This study aims to evaluate the usefulness of fretting test equipment that was developed for reliability test of electrical connector. Fretting tests were carried out using tin coated connectors and friction force, contact resistance, contact area and roughness of contact region were investigated. The following results that will be helpful to understand the fretting wear mechanism, increase process the contact resistance and contact area were obtained. (1) In the same frequency and slip amplitude, the friction force, roughness and contact area increased rapidly until about $10^3$ cycles, after which it was slightly changed. (2) In the various frequency and slip amplitude, the contact area increased with slip amplitude and cyclic numbers, but it did not depend on cyclic frequency. (3) The surface roughness of contact region did not depend on the cyclic frequency. From these results, the applicability of the fretting wear test equipment and reliability of connector were discussed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.6
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• pp.871-883
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• 1997

Kinetodynamics of a cam driving slider mechanism consists of kinematic analysis and force analysis. The kinematic analysis is to determine the kinematic characteristics of a cam driving mechanism and a slider mechanism. The force analysis is to determine the joint forces of links, the contact forces of the cam and follower, and the driving torque of a main shaft. This paper proposes a close loop method and a tangent substitution method to formulate the relationships of kinematic chains and to calculate the displacement, velocity and acceleration of the cam driving slider mechanism. Also, and instant velocity center method is proposed to determine the cam shape from the geometric relationships of the cam and the roller follower. For dynamic analysis, the contact force and the driving torque of the cam driving slider mechanism are calculated from the required sliding forces, sliding motion and weight of the slider.