• 한국소성가공학회:학술대회논문집
• /
• 한국소성가공학회 2009년도 추계학술대회 논문집
• /
• pp.470-473
• /
• 2009

In this paper, back pressure forging processes of which back pressures are exerted by mechanical forces including spring reaction are simulated by three-dimensional finite element method. The basic three-dimensional approach extended from two-dimensional approach is accounted for. An axisymmetric backward and forward extrusion process having a back pressing die, which is exposed to oscillation of forming load due to variation of reduction ratios with stroke and its related frequent variation of major deforming region, is simulated by both two and three dimensional approaches to justify the presented approach by their comparison. A three-dimensional forging process having a back pressing die attached to the punch by a mechanical spring is simulated and the results are investigated to reveal accuracy of the presented approach.

• 소성∙가공
• /
• 제19권5호
• /
• pp.273-276
• /
• 2010

In this paper, back pressure forging processes of which back pressures are exerted by mechanical forces including spring reaction are simulated by three-dimensional finite element method. The basic three-dimensional approach extended from two-dimensional approach is accounted for. An axisymmetric backward and forward extrusion process having a back pressing die, which is exposed to oscillation of forming load due to variation of reduction ratios with stroke and its related frequent variation of major deforming region, is simulated by both two and three dimensional approaches to justify the presented approach by their comparison. A three-dimensional forging process having a back pressing die attached to the punch by a mechanical spring is simulated and the results are investigated to reveal accuracy of the presented approach.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.539-542
• /
• 1996

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.

• 한국해양공학회지
• /
• 제33권5호
• /
• pp.454-461
• /
• 2019

In autonomous interventions using an underwater vehicle with a manipulator, grasping based on target detection and recognition is one of the core technologies. To complete an autonomous grasping task, the vehicle body approaches the target closely and then holds it through operating the end-effector of the manipulator, while the vehicle maintains its position and attitude without unstable motion. For vehicle motion control, it is very important to identify the hydrodynamic parameters of the underwater vehicle, including the propulsion force. This study examined the propulsion characteristics of the autonomous intervention ROV developed by KRISO, because there is a difference between the real exerted force and the expected force. First, the mapping between the input signal and thrusting force for each underwater thruster was obtained through a water tank experiment. Next, the real propulsion forces and moments of the ROV exerted by thrusting forces were directly measured using an F/T (force/torque) sensor attached to the ROV. Finally, the differences between the measured and expected values were confirmed.

• 대한인간공학회지
• /
• 제32권4호
• /
• pp.405-411
• /
• 2013

Objective: Product design process without considering the strength of the user can cause the excessive burden on musculoskeletal system of human body. Since the muscle strength will vary depending on the body posture, the design of product should consider the characteristics of body posture. This study was performed to investigate the effects of forearm postures on the push and pull strength. Background: Overexerted force has been identified to cause musculoskeletal disorders. It is important to know the push and pull strength exerted by human when designing so that exerted force does not exceed the safety limits. Method: Maximum isometric push and pull strength of left, right and both hands were measured according to forearm postures with pronation, neutral and supination. For the study, 66 male and 30 female undergraduate students were participated as subjects. All subjects were normal and healthy with no clinical history. Results: The results showed that the push strength of male and female were 93.3% and 85.4% of pull strength. It showed that the strength of one-hand was 72.1~81.0% of the strength of two-hands, and the strength of left hand was 93.1~95.8% of the strength of right hand. The strength of female was 62% of the one of male. It was found that the strength with pronation $90^{\circ}$ was reduced up to 20% compared to the strength with neutral posture. Conclusion: Push and pull strength of male and female were reduced when forearm was rotated extremely. Application: The results of this study will be used for the prevention of work related musculoskeletal disorders and design of industrial equipment.

• 대한치과보철학회지
• /
• 제30권4호
• /
• pp.498-507
• /
• 1992

This study was to investigate the retentive force changes according to repeated insertion and withdrawal of Cr-Co alloy clasps, commonly used in this country, and the differences in retentive capacities between Aker's clasp and I-bar clasp. The author selected 4 kinds of Cr-Co alloys and Type IV gold alloy, and measured the retentive force changes of each clasp type in undercut depth of 0.25mm and analyzed statistically. The following results were obtained. 1. In both Aker's and I-bar clasps, there were no statistically significant differencies in retentive forces among 4 Cr-Co alloys. 2. Cr-Co alloys exerted greater retentive forces than those of gold alloy, 2 times greater in Aker's clasps and 2.5 times in I-bar clasps. 3. In all test specimens, I-bar clasps exerted greater retentive forces than Aker's clasps. 4. In all test specimens, there were trends of second order relationships in retentive force changes.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
• /
• pp.803-806
• /
• 1997

In this paper, a force estimation method is proposed for the sensorless force control. For this, a disturbance observer is applied to each joint of an n degrees of freedom manipulator to obtain a simple equivalent robot dynamics(SERD) being represented as an n independent double integrator system. To estimate the output of disturbance observer in the absence of external force, the observer estimator is designed, where the uncertain parameters of the robot manipulator are adjusted by gradient method to minimize the output between the disturbance observer and the observer estimator. When the external force is exerted, the external force is estimated using the difference between the output of disturbance observer which include the external torque signal and that of observer estimator. And then, a force controller is designed for force feedback control employing the estimated force signal. To verify the effectiveness of the proposed force estimation method, several numerical examples are illustrated for the 2-axis planar type robot manipulator.

• 제어로봇시스템학회논문지
• /
• 제21권5호
• /
• pp.413-420
• /
• 2015

This paper describes the design of an elbow rehabilitation robot based on force measurement that enables a severe stroke patient confined to their bed to receive elbow rehabilitation exercises. The developed elbow rehabilitation robot was providewitha two-axis force/torque sensor which can detect force Fz and torque Tz, thereby allowing it to measure therotational force (Tz) exerted on the elbow and the signal force Fz which can be used as a safety device. The robot was designed and manufactured for severe stroke patients confined to bed, and the robot program was manufactured to perform flexibility elbow rehabilitation exercises. Asa result of the characteristics test of the developed rehabilitation robot, the device was safely operated while the elbow rehabilitation exercises were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

• 센서학회지
• /
• 제25권1호
• /
• pp.27-34
• /
• 2016

This paper describes the development of a rehabilitation robot that can provide wrist bending exercise to a severe stroke patient staying in a bed ward or at home. The developed rehabilitation robot has a three-axis force sensor which detects three directional force Fx, Fy, and Fz. The sensor measures a bending force (Fz) exerted on the wrist and the signal force (Fx and Fy) which can be used for the safety purpose. The robot was designed for severe stroke patients in bed, and the robot program was developed to perform a wrist bending rehabilitation exercise. In our tests including a nine-day experimental exercise, the developed force sensor-based robot operated effectively and safely.

• Safety and Health at Work
• /
• 제7권4호
• /
• pp.347-353
• /
• 2016

Background: This study aimed to investigate the relation between key strike forces and musculoskeletal symptoms (MSS). Moreover, this study presents a key strike force measurement method to be used in a workplace setting. The correlation between key strike force characteristics and MSS was previously studied, but the measurement methods used either a single-key switch or force platforms applied under the keyboard. Most of the studies were conducted in a laboratory setting. The uniqueness of measurement methods in the current study is their ability to measure forces applied to a specific key in a workplace setting and to provide more information about specific key strike forces during typing. Methods: Twenty-four healthy computer workers were recruited for the study. The demographic questionnaire, and self-reported questionnaires for psychosocial status (General Nordic Questionnaire for Psychological and Social Factors at Work) and for detecting MSS were filled up, which later helped in dividing the participants into two groups (12 participants with pain and 12 without pain). Participants typed a predetermined text that utilized the instrumented keys multiple times. The dynamic forces applied to the keys were recorded and collected, using four thin and flexible force sensors attached to the preselected keys according to their location. Results: The results demonstrated that participants with high levels of MSS, specifically in the back and neck, in the last year exerted significantly higher key strike forces than those with lower levels of symptoms (p < 0.005). Conclusion: The key strike force exerted while typing on a keyboard may be a risk factor for MSS, and should therefore be considered in ergonomic evaluations and interventional programs.