• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.4 s.97
• /
• pp.229-236
• /
• 1999

The surface, generated by end milling operation, is deteriorated by tool runout, vibration, tool wear and tool deflection, etc. Among them, the effect of tool deflection on surface accuracy is analyzed. Surface generation model for the prediction of the topography of machined srufaces has been developed based on cutting mechanism and cutting tool geometry. This model accounts for not only the ideal geometrical surface, but also the deflection of tool due to cutting force. For the more accurate prediction of cutting force, flexible end mill model is used to simulate cutting process. Computer simulation has shown the feasibility of the surface generation system. Using developed simulation system, the relations between the shape of end mill and cutting conditions are analyzed.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.1
• /
• pp.32-38
• /
• 2005

Generally, cutting force models use a sin function method to calculate chip thickness. In slot end milling, the error from a sin function method is much bigger than other machining because a tool rotation angle in cutting is much larger. Thus in this paper, a new method to calculate chip thickness was suggested and evaluated. In a new method, tool position data according to tool rotation are checked and stored so that it is possible correct chip thickness is calculated. Cutting force waveforms simulated from a sin function method and a new method and measured waveforms from experiments were compared and error percentages were obtained. Finally, a new method had good results for simulating cutting force in slot end milling.

• The Journal of Korea Robotics Society
• /
• v.14 no.4
• /
• pp.311-317
• /
• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2004.10a
• /
• pp.237-240
• /
• 2004

Indexable end mills, which consist of inserts and cutter body, have been widely used in roughing of parts in the mold industry. The geometry and distribution of inserts on cutter body are determined by application. This paper proposes analytical cutting force model for indexable flat end-milling process. Developed cutting force model uses the cutting-condition-independent cutting force coefficients and considers runout, cutter deflection and size effect for the accurate cutting force prediction. Unlike solid type endmill, the tool geometry of indexable endmill is variable according to the axial position due to the geometry and distribution of inserts on the cutter body. Thus, adaptive algorithm that calculates tool geometry data at arbitrary axial position was developed. Then number of flute, angular position of flute, and uncutchip thickness are calculated. Finally, presented model was validated through some experiments with aluminum workpiece.

• Journal of the Korean Society for Precision Engineering
• /
• v.24 no.10
• /
• pp.37-45
• /
• 2007

End-milling is intermittent cutting process performed by a tool with a number of teeth. Its cutting forces are commonly measured by the tool dynamometer which has rectangular coordinates. In this case, the pattern of cutting forces is different according to cutting conditions. At a certain cutting condition, the sign of cutting force changes from positive to negative during a revolution of one tooth. The change of force direction excites a cutting tool and severe vibration arises when radial depth of cut increases. In this study, cutting experiments and simulations were carried out in order to explain the cause of the change of the cutting force direction. In addition, the effect of the cutting force change was discussed in terms of chatter vibration in end milling.

• Journal of the Korean GEO-environmental Society
• /
• v.8 no.4
• /
• pp.5-11
• /
• 2007

In this study, several pullout tests were carried out under various field conditions to evaluate the pullout force of the end fixed nails. Pullout resistance force, displacement and friction force between the grouting and nail were measured in end fixed nails installed in soft rock, weathered rock and weathered soil. Furthermore, the field test were also carried out under the same condition using the conventional type nails. Based on the test results, it is concluded that the end fixed nails showed larger ultimate resistance force compared with conventional types nails, approximately two times in weathered soil and 1.6 times of weathered rock, respectively. The skin friction is also increased in end fixed type about 1.8~3.0 times. Finally, it is concluded in the base of the force transfer properties that using the end fixed nails could decrease the displacement and show a uniform resistance in entire length of nails.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1407-1410
• /
• 1997

Advanced sensor design and filtering technology have been studied to obtain information for condition monitoring and diagnostics inmachining processes. To develope and economic monitoring system in end milling processes, indirect and reliable type of cutting force estimators were required. In this paper, an estimation method of cutting forces during end milling processes was studied through the measurement of current signals obtained from spindle and feeddrive motors. Cutting force and torque models were derived from the cutting geometry in down milling processes. Relationships between motor currents and cutting forces were also developed in the form of AC and DC components from the developed force models. The validity of the cutting force estimator was confirmed by the experiments under various cutting conditions.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.13 no.6
• /
• pp.1-9
• /
• 2004

For improvement of productivity and cutting tool lift, cutting force in end milling needs to be predicted accurately. In order to analyze cutting force, the cutting dynamics was modelled mathematically by using chip load, cutting geometry, and the relationship between cutting forces and the chip load. Specific cutting force coefficients of the cutting dynamics model were obtained by average cutting forces, tool diameter, cutting speed, fled, axial depth and radial depth of cut. The effects of the cutting conditions on the specific cutting force constants in milling were studied. The model is verified through comparisons of model predicted cutting forces with measured cutting forces obtained from machining experiments.

• Journal of international Conference on Electrical Machines and Systems
• /
• v.2 no.1
• /
• pp.9-15
• /
• 2013

This paper presents a uniform analytical model by energy method and Fourier series expansion to analyze detent force in uneven magnetic field for permanent magnet linear synchronous motor (PMLSM). The model reveals that detent force in long-primary type is mainly influenced by non-ideal distribution of permanent magnet magnetic motive force, while nounified air-gap permeance makes a great impact on detent force of short-primary type. Hence, magnetic field similarity of motor design techniques referring rotary counterpart are adopted. For long-primary type novel method of splitting edge magnets is proposed to reduce end effects force, and optimal widths of edge tooth in short-primary type also verify the effectiveness of magnetic field similarity. The experimental results validate finite element analysis results.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.174-178
• /
• 1991

In this paper, we present a unified approach for the control of manipulator motions and active forces based on the operational space formulation. The end-effector dynamic model is used in the development of a control system in which the generalized operational space end-effector forces are selected as the command vector. A "generalized position and force specification matrix" is used for the specification of space of motions and forces in which manipulator is to be controlled. Flexibility in the force sensor, end-effector, and environment are discussed.discussed.