• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.120-129
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• 2002

An integrated structure and controller design approach for rotating cantilever beam is presented. An optimization method is developed for improving positioning performance considering the elastic deformations during high speed rotation and adopting the beam shape and the control gains as design variables. For this end, a dynamic model is setup by the finite element method according to the shape of the beam. The mass and stiffness of the beam are distributed in such a way that the closed-loop poles of the control system should be located leftmost in the complex s-plane. For optimization method, the simulated annealing method is employed which has higher probability to find the global minimum than the gradient-based down-hill methods. Sequential design and simultaneous design methods are proposed to obtain the optimal shape and controller. Simulations are performed with new designs by the two methods to verify the effectiveness of the approach and the results show that the settling time is improved for point-to-point position controls.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.7
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• pp.562-567
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• 2016

Morphing wing which has a configuration optimized to flight speed and condition is faced to a lot of barriers to be overcome such as actuator technique, structural mechanization technique, flexible skin material, control law, and so on. As the first step for developing a morphing wing with rapid response, we designed and fabricated the morphing airfoil using a SMA(shape memory alloy) wire actuator and torsional bias springs. The design concept of the morphing airfoil was verified through operation test. The measured results show that the flap deflects smoothly and fast.

• Journal of the Korean GEO-environmental Society
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• v.10 no.4
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• pp.41-48
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• 2009

A flexible pipe was buried 10cm below the ground formed with standard sand to observe changes in the shape of the pipe according to the behavior of ground at each relative density. Changes in the shape of the pipe in each ground were observed to examine the behavior of the pipe under the state of reinforced ground after installing geogrid under the pipe. Ground reinforced using geogrid formed tensile force on the reinforcement material with increase in the vertical load and showed reduction in settlement under identical vertical load with existence of reinforcement. Distributions of ground deformation of 100% relative density and 70% relative density had clear difference. Reinforced ground with 70% density converged to the ground reaction of final settlement of non-reinforced ground with 100% density at final settlement of 100 mm. Because the shape of lower part strain of the buried pipe is similar to that of un-reinforced ground with relative density of 100%, reinforcement effect by geogrid in soft ground can be anticipated.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.4
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• pp.183-189
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• 2018

The focus of this paper is to design and control a three fingered hand system with eight axes for smart factory with an flexible controller, and to keep a useful big database for dynamic manipulation based on the experimental results. The weight of the hand module is only 1.2 kg, but flexible motion and powerful grasping are possible. To achieve such a flexible motion control of a robotic hand, we have developed a robust and precise fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. In this study, it was used three fingers with eight axes which is the optimal number to achieve a robust grasping diverse shape parts for smart factory.

• Journal of the Society of Naval Architects of Korea
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• v.50 no.5
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• pp.349-354
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• 2013

The blades of flexible propellers are formed by overlaying and adhering many layers of thin glass-fiber fabric sheets, are compressed and dried in the rigid mold. The current manufacturing process can not avoid the rather irregular deformation of the blades composed of non-isotropic non-uniform fabric structures, and inevitably introduces the different shape-forming errors between blades. In this paper, several flexible model propellers are precisely measured with three-dimensional optical instrument and compared with the original design geometry. The model propellers with the as-measured geometry are evaluated with the lifting-surface-theory-based propeller analysis code. The open-water performance are presented and discussed. The importance of the manufacturing accuracy is addressed to be able to apply the flexible propellers for propulsion of marine vehicles.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.11
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• pp.132-142
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• 1996

This paper presents a technique to model and control a manipulator which has a flexible link and moves in a vertical plane. The flexible link is modeled as an Euler-Bernoulli Beam. Elastic deformation of the flexible link is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. This paper presents a simple technique to improve the correctness of the developed model. The final model including the shortening effect due to elastic deformation correlates very well with experimental results. The free body motion simulation shows that two assumed modes for the representation of the elastic deformation is proper in terms of the model size and correctness. A control algorithm is developed using PID control technique. The proportional, integral and derivative control gains are determined based on dominant pole placement method with a rigid one-link manipulator. A position control simulation shows that the control algorithm can be used to control the position and residual oscillation of the flexible one-link manipulator effectively.

• Journal of Mechanical Science and Technology
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• v.16 no.10
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• pp.1222-1228
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• 2002

This research is the development of a flexible tactile sensor array for service robots using PVDF (polyvinylidene fluoride) film for the detection of a contact state in real time. The prototype of the tactile sensor which has 8${\times}$8 array using PVDF film was fabricated. In the fabrication procedure, the electrode patterns and the common electrode of the thin conductive tape were attached to both sides of the 281$\mu\textrm{m}$ thickness PVDF film using conductive adhesive. The sensor was covered with polyester film for insulation and attached to the rubber base for a stable structure. The proposed fabrication method is simple and easy to make the sensor. The sensor has the advantages in the implementing for practical applications because its structure is flexible and the shape of the each tactile element can be designed arbitrarily. The signals of a contact force to the tactile sensor were sensed and processed in the DSP system in which the signals are digitized and filtered. Finally, the signals were integrated for taking the force profile. The processed signals of the output of the sensor were visualized in a personal computer, and the shape and force distribution of the contact object were obtained. The reasonable performance for the detection of the contact state was verified through the sensing examples.

• Transactions of Materials Processing
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• v.25 no.1
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• pp.12-20
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• 2016

Press machines and dies are commonly used for 3D curved sheet forming. Using conventional die forming can cause economic problems since various modifications of the die shape are required depending on the product shape. Various types of flexible forming such as multi-point dieless forming (MDF), flexible incremental roll forming have been developed to improve the needed process flexibility. Although MDF can reduce the production cost using reconfigurable dies, it still has significant material loss. Drawbacks such as wrinkling, dimpling, and forming errors can also occur despite continuous investigations to mitigate these defects. A novel sheet forming process for 3D curved surfaces, a flexibly-reconfigurable roll forming (FRRF), has been recently proposed to overcome the economic and technical limitations of current practice. FRRF has no limitation on blank size in the longitudinal direction, and also minimizes or eliminates forming defects such as wrinkling and dimpling. Feasibility studies of FRRF have been conducted using FE simulations for multi-curved shapes and various sheet thicknesses. Therefore, the fabrication of a FRRF apparatus is required for any follow-up studies. In the current study, experiments with reconfigurable rollers were conducted using a simple design pre-FRRF apparatus prior to fabricating the full size FRRF apparatus. There are three candidates for the reconfigurable roller: a bar-type shaft, a flexible shaft, a ground flexible shaft. Among these candidates, the suitable reconfigurable roller for FRRF is determined through various forming tests.

• Journal of the Korean Society of Propulsion Engineers
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• v.10 no.2
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• pp.46-52
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• 2006

Techniques used for thrust vector control in rocket motors are mainly classified nozzles installed mechanical interference on the expansive region of nozzle(such as jet tabs and jet vanes) and movable nozzles(such as ball&socket and flexible seal). Using the numerical analysis and cold-flow test, this paper evaluates the performance of supersonic nozzle with asymmetric entrance shape when the test nozzle, especially ball&socket, is tilted. Numerical result shows that the effect of the asymmetric entrance shape on the flow field is suddenly diminished at the nozzle throat and downstream is mostly free from the effect of asymmetric entrance shape. Although the calculated thrust and lateral force are less than those of cold-flow test, two results show a fairly good agreement. But the cold-flow test results indicate the effective angles calculated from measured forces are not agreement with the geometric angles.

• Tribology and Lubricants
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• v.38 no.1
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• pp.27-31
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• 2022

Harmonic drives have attracted increasing attention with the development of materials, parts, and related equipment. Harmonic drives exhibit high deceleration, high accuracy, and light weight. The stiffness of flexible splines according to the radial load is studied using a commercial FEM program to design the structure of the flexible spline and finite element to improve the weight and price competitiveness of harmonic drives. In addition, several studies have measured and compared friction coefficients based on 3D printed tread patterns. However, owing to the characteristics of plastic materials, a decrease in stiffness in the radial direction is inevitable. To prevent a decrease in stiffness in the radial direction, we designed and manufactured flex splines with a wrinkle shape. Through structural analysis, the reaction force and stiffness in the radial direction were determined. In addition, the maximum angle of the mound was derived by theoretical calculations, and the performance of the harmonic drive was compared with the results obtained in the mound experiment. Structural analysis shows that the shape of wrinkles decreased the stress and reaction force and increased the safety factor in comparison with that of the circular shape. During performance verification through continuous experiments, the developed harmonic drive showed continuous performance similar to that of an actual tank model. It is expected that the flex spline with a compliant spring and wrinkle shape will prevent a decrease in the radial stiffness.