• 대한기계학회논문집A
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• 제20권7호
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• pp.2213-2222
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• 1996

This paper presents the design process and evaluaation results of a two-axis force transducer for measuring flange reaction forces. A double-cantilever beam structure is used as a sensing element, and its optimal configuration is determined based on the derived strain equations to maximize the sensitivity and minimize the regid body displacements. To reduce the coupling errors between two-axis forces, strain distributions by finite elemetns analysis are utilized and the Wheaststone bridge cricuits composed of strain gages are built such that the output voltage should be zero, although strains of four strain gages are not zero. Calibration test shows that the two-azxis force transducer developed in this paper is useful in measuring flange reaction forces within the coupling error of 5.53%.

• Coupled systems mechanics
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• 제7권4호
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• pp.407-420
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• 2018

In solid-liquid two phase flow, the knowledge of how descending solid particles affected by the presence of downstream wall is important. This work studies at what interstitial distance the velocity of a vertically descending sphere is affected by a downstream wall as a consequence of wall-modified hydrodynamic forces through a validated dynamic model. This interstitial distance-the hydrodynamic coupling distance ${\delta}_c-is$ found to decay monotonically with the approach Stokes number St which compares the particle inertia to viscous drag characterized by the quasi-steady Stokes' drag. The scaling relation ${\delta}_c-St-1$ decays monotonically as literature below the value of St equal to 10. However, the faster diminishing rate is found above the threshold value from St=10-40. Furthermore, an empirical relation of ${\delta}_c-St$ shows dependence on the drop height which clearly indicates the non-negligible effect of unsteady hydrodynamic force components, namely the added mass force and the history force. Finally, we attempt a fitting relation which embedded the particle acceleration effect in the dependence of fitting constants on the diameter-scaled drop height.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.2-8
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• 2002

This paper discusses haptic display for grasping a virtual object by two fingers. Much research has been done on fundamental analysis for stability of haptic display. But it is difficult to apply the results immediately to grasping situations by two fingers, since the studies usually deal with a single device and a single object and the fingertip force in grasping situations has two components, internal and external components. The conventional methods, which specify the coupling impedance at each contact point separately, have no other alternative but to specify the impedance for the sum of the internal and external components. So even if only the impedance for the external force should be changed, the impedance for the internal force is also changed at the same time. In this paper, a new method, in which the coupling impedance is specified separately for the internal and external forces, is proposed and the stability of the proposed method is discussed using passivity analysis for 1 -DOF(Degree-Of-Freedom) system. Finally, some experiments are performed to study the effects of the proposed method.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.8-13
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• 2000

In this paper, a new adaptive cross-coupling control (CCC) method with an improved contour error model is proposed to maintain contouring precision in high-speed nonlinear contour machining. The proposed method utilizes variable controller gains based on the instantaneous curvature of a contour and the feedrate command. In addition, a real-time federate adaptation scheme is included in the proposed CCC to regulate cutting force. The proposed method is evaluated and compared with the conventional CCC for nonlinear contouring motion through computer simulations. The simulation results show that the proposed CCC improves the contouring accuracy and regulates cutting force more effectively than the existing method.

• Journal of Electrical Engineering and Technology
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• 제10권1호
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• pp.176-187
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• 2015

DC bias will cause abnormal vibration of transformers. Aiming at such a problem, transformer vibration affected by DC bias has been studied combined with transformer core and winding vibration mechanism use multi-physical field simulation software COMSOL in this paper. Furthermore the coupling model of electromagnetic-structural force field has been established, and the variation pattern of inner flux density, distribution of mechanical stress, tension and displacement were analyzed based on the coupling model. Finally, an experiment platform has been built up which was employed to verify the correctness of model.

• 대한기계학회논문집A
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• 제22권2호
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• pp.353-364
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• 1998

This paper describes the design processes and evaluation results of a small-sized six-axis force/torque sensor. The new six-axis force/torque sensor including S-type structure has been developed using a parallel plate structure as a basic sensing element. In order tominimize coupling errors, the location of strain gages has been determined based on the finite element analysis and the connections of strain gages have been made such that the bridge circuit with 4 strain gages becomes balanced. Several design modifications result in a similar strain sensitivity for six-axis forces and moments, and the reduced coupling errors of 2.6% FS between each forces and moments. Calibration test results show that the six-axis load cell developed which has light weight of 135g and the maximum capacities of 196 N in forces and 19.6 N.m in moments is estimated to be within 7.1% FS in coupling error.

• 로봇학회논문지
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• 제8권3호
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• pp.186-196
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• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• International Journal of Precision Engineering and Manufacturing
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• 제3권4호
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• pp.87-93
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• 2002

In this study, basic concepts of magnet were introduced, and dynamic characteristics of magnet coupling were explored. Based on these characteristics, it was proposed how to analyze transverse and torsional vibrations of a spindle system with magnet coupling. Proposed theoretical approaches were applied to a precision power transmission system machined for this study, and the transverse and torsional vibrations were simulated. The force on magnet coupling was shown as a form of nonlinear function of the gap and the eccentricity. Also, the form of torque transmitted by magnet coupling was considered as a sinusoidal function. Main spindle connected to a coupling of a follower part was assumed to be a rigid body. Nonlinear partial differential equation was derived to be as a function of angular displacement. By using the equation, torsional vibration analysis of a spindle system with magnet coupling was performed. Free and forced vibration analyses of a spindle system with magnetic coupling were explored by using FEM.

• 한국지진공학회논문집
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• 제20권6호
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• pp.361-368
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• 2016

Coupling beams serve as primary source of energy dissipation in coupled shear wall systems during large earthquakes. However, the overestimation of the shear strength of diagonally reinforced coupling beams may be adverse effect on the seismic performance of coupled shear wall systems. In order to force coupling beams to properly work during earthquakes, coupling beams should be designed with accurate shear strength equations. The objective of this study is to propose the accurate shear strength equation for slender diagonally reinforced coupling beams. For this purpose, experimental tests were conducted using three diagonally reinforced coupling specimens with different amount of transverse reinforcement under reversed cyclic loads to evaluate the hysteretic behavior of the specimens. The test results show that transverse reinforcement of slender diagonally reinforced coupling beam affects the maximum strength and drift ratio.

• Structural Engineering and Mechanics
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• 제67권4호
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• pp.317-326
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• 2018

The iterative decomposition coupling formulation of the precise integration finite element method (FEM) and the time domain boundary element method (TD-BEM) is presented for elstodynamic problems. In the formulation, the FEM node and the BEM node are not required to be coincident on the common interface between FEM and BEM sub-domains, therefore, the FEM and BEM are independently discretized. The force and displacement converting matrices are used to transfer data between FEM and BEM nodes on the common interface between the FEM and BEM sub-domains, to renew the nodal variables in the process of the iterations for the un-coincident FEM node and BEM node. The iterative coupling formulation for elastodynamics in current paper is of high modeling accuracy, due to the semi-analytical solution incorporated in the precise integration finite element method. The decomposition coupling formulation for elastodynamics is verified by examples of a cantilever bar under a Heaviside-type force and a harmonic load.