• 대한전기학회논문지:전기기기및에너지변환시스템부문B
• /
• 제51권12호
• /
• pp.659-663
• /
• 2002

The brake systems of high-speed train are to be equipped with three different brake systems, such as regenerative brake with regenerative feedback in driving car, a pneumatic disc brake, and non-contact linear eddy-current brake(ECB). The regenerative brake and the pneumatic disc brake are acting on the wheels. Their achievable braking force depends on the adhesive coefficient, which is influenced by the weather condition and speed, between the wheel and The linear eddy current brake gets an economical solution in the high-speed train because of the independence of the adhesive coefficient, no maintenance needed. and the good control characteristics. The braking force and the normal force of ECB for korean high-speed train are analysed by the 2D FEM(Finite Element Method). Finally the normal force is compared with the experiential values to verify the analysis.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1995년도 추계학술대회 논문집 학회본부
• /
• pp.575-578
• /
• 1995

In general, the control of robot manipulator is classified into position control and force control. Position controllers give adequate performance when a manipulator is following a trajectory through space and end-effector has no contact with environment. However for most tasks performed by robot manipulator in industry, contact is made between the end-effector and manipulator's environment, so position control may not suffice. The objective of this study is to control both position of a manipulator and the contact forces generated at the hand by using a conceptually simple control law. Position and force control problem is decoupled into subtasts via taskspace formulation and inverse dynamics. Then, the position controllers are designed for the task space variable which represent tangent motion and the forte controllers are designed for the lash space variables which represent normal force.

• 대한기계학회논문집A
• /
• 제29권2호
• /
• pp.169-175
• /
• 2005

In this paper, the contact stress and strain distributions in elastomer O-ring seals have been analyzed using a non-linear finite element method. The stress behavior of PTFE materials is assumed as Odgen model because the sealing clearance between the flange and the surface of the O-ring is not small and the sealing pressure of working fluids covers from the atmospheric pressure to high pressure of 15MPa. The contact normal force and stress in wavy O-rings in which is developed for this analysis are uniformly distributed along the flange and the wall of the rectangular groove. And the normal sealing forces are also kept high compared to other contact sealing models such as the conventional O-ring and X-ring, Thus, the FEM computed results indicate that the sealing characteristic of wavy O-rings is food compared with other contact seals.

• 한국안전학회지
• /
• 제27권5호
• /
• pp.1-8
• /
• 2012

The purpose of this study were to evaluate the dynamic characteristics of the portable slipmeters with respect to actual slipping and to compare their output with those of force platform. The selected slipmeters were commonly used devices for slipperiness measurement in situ floors. Their output quantity represented force (BOT-3000), loss of energy(British pendulum striker) and angle of inclination(English XL). The validity of these devices was studied with respect to actual slipping using a force platform. The precision of these devices was also evaluated with force platform. Based on dynamics of human subject behavior when slipping during normal walking, the all devices tested in this study showed poor performances: low built up ratio, low normal pressure, and long contact time prior to slip. Nevertheless, their results reasonably correlated with those calculated from the ground reaction forces generated by the operation of the selected slipmeters on the force platform although the absolute values of COF from these three devices could be quite different. Also the results showed good repeatability under the some test conditions.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집B
• /
• pp.735-740
• /
• 2001

With the development of micro-technology, the demand for micro actuator is increasing. But, it is difficult to achieve high resolution and long travel range simultaneously with the conventional actuators. So, the noncontact surface actuator was proposed. This actuator can realize high dynamic range and the planar motion without complex cross-axis linear slides. This paper describes a magnetically suspended linear actuator for developing a non-contact surface actuator. The operating principle and the structure of the proposed linear actuator are similar to switched reluctance motor, but the proposed linear actuator utilizes normal force and propulsion force simultaneously. With this characteristic, the system can be simpler than other non-contact surface actuator.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2003년도 춘계학술대회 논문집
• /
• pp.1034-1037
• /
• 2003

Recently in the field of precision positioning device, the contact-free actuators are gaining focuses with their outstanding performances by eliminating mechanical frictions. Th is paper is about the driving algorithm for contact-free linear actuator. The proposed driving algorithm has similar structure of drives of switched reluctance motor and reduces the normal forces and force ripple. The simulation and experiment are executed to verify the proposed method.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
• /
• pp.1-6
• /
• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• 대한기계학회논문집A
• /
• 제30권4호
• /
• pp.364-372
• /
• 2006

In this paper, we present a finger tip tactile sensor which can detect contact normal force as well as slip. The sensor is made up of two different materials, such as polyvinylidene fluoride (PVDF) known as piezoelectric polymer, and pressure variable resistor ink. In order to detect slip on the surface of the object, two PVDF strips are arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, a tactile sensing system is developed, which includes miniaturized charge amplifier to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.

• 대한기계학회논문집
• /
• 제14권3호
• /
• pp.554-570
• /
• 1990

본 연구에서는 동적인 상태에서 구름접촉 거동을 좀더 명확히 하기 위해서 마 찰의 발생기구가 탄성이력손실에 기인한다는 이론을 기초로 압축 코일스프링을 이용한 감쇠자유진동시스템으로 구성된 실험장치에 의해서 구의 직경, 수직하중, 평면만의 표 면거칠기를 변화시켜 구름접촉면의 감쇠특성을 검토하고 이로부터 구름마찰력과 대수 감쇠율을 구한 다음 대수감쇠율과 진폭의 관계를 이용해서 실험에 의한 새로운 접촉폭 산출방법을 제시하고 Hertz이론에 의한 접촉폭과 마찰이론의 역학적 해석에 의한 접촉 폭과 비교, 분석해 보았다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2007년도 춘계학술대회A
• /
• pp.1576-1580
• /
• 2007

Typical lip seals are widely used as sealing mechanism of rotary and reciprocating shaft. Double lip seal has comparatively high stiffness and dynamic radial eccentricity. Usually material of these seals is made of elastomer and nonlinear finite element analysis is required to analyze behaviour of this material because Young's modulus is varied with working load. In this paper, MSC MARC/MENTAT is used for nonlinear analysis of double lip seal with pressure variation and interference. The contact normal force of double lip seal between lip and shaft is analyzed to reduce power loss when shaft rotates.