• 한국소음진동공학회논문집
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• 제11권7호
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• pp.275-286
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• 2001

The research presents an analytical theory to calculate the characteristics of the bal bearing with waviness in its rolling elements considering the centrifugal force and gyroscopic moment of bal. The effects of centrifugal force and gyroscopic moment are introduced to the kinematic constraints and force equilibrium equations. and the waviness of rolling elements is modeled by sinusoidal function to calculate the contact force at each ball. The numerical solutions of governing equation of berating due to waviness are calculated by using the Newton-Raphson method. The accuracy of the research is validated by comparing the contact force. contact angle in case of considering the centrifugal force and gyroscopic moment of bal and the contact force and vibration frequencies in cases of considering waviness with the prior researches respectively. It investigates the stiffness, contact force. displacement and vibration frequencies of the ball bearing considering not only the centrifugal force and gyroscopic moment of ball but also the waviness of the rolling elements.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.410-415
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• 2004

Heavy-weight head slides may cause excessive inertia impact ＆ moment on the machine tool structure when they move or stop abruptly during operation. Consequently these inertia impact and unbalanced moment bring transient vibrations and rough sliding motions on the machine structure. Machine tool engineers have tried many kind of feed-slide designs in order to solve this problem; for example, the design optimization of the moving structure for minimum weight and maximum stiffness, box-in-box type slide design, and so on. In this article, force and moment equilibrium equations regarding to the inertia force ＆ moment were derived for each one of a mold M/C's head slides. Furthermore, five different design configurations of head slide assembly were reviewed for its design improvement regarding to force ＆ moment calculations and finite element structural analysis results.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1998년도 봄 학술발표회논문집(II)
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• pp.447-454
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• 1998

The main object of the study is that axial force-moment relationships for high strength concrete structures using reliability theory(Linear statstical method, Monte Carlo Simulation) including probability conception. And mean stress factors and centroid factors proposed to high strength concrete structures using reliability theory(Linear statstical method, Monte Carlo Simulation). Finally, The established experimental data for axial force-moment relationships are compared to the analytical data(data for Linear statstical method and Monte Carlo Simulation) for axial force-moment relationships in this analytical method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1684-1687
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• 1997

A dynamic load simulator which can reproduce on-ground the hinge moment of aircraft control surface is and essential rig for the loaded performance test of aircraft test of aircraft acutation system. The hinge moment varies wide in the aricraft flight enveloped depending on specific flight condition and maneuvering status. To replicate the wide spectrum of this hinge moment variation within some accuracy bounds, a force controller is designed based on the Quantiative Feedback Theory (AFT). Through the analysis on hinge moment dynamics, a design specification for the force controller is suggested. The efficacy of QFT force controller is verivied by simulation, in which combined aricraft dynamics/flight control law and hydraulic actuation system dynamics of aircraft control surface are considered.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1997년도 가을 학술발표회 논문집
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• pp.500-506
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• 1997

The main object of the study is that axial force-moment relationships for high strength concrete structures using reliability theory probability conception. And mean stress factors and centroid factors proposed to high strength concrete structures using reliability theory. Finally, the established experimental data for axial force-moment relationships are compared to the analytical data for the axial force-moment relationships in this analytical method.

• Computers and Concrete
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• 제14권2호
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• pp.109-125
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• 2014

The force transfer mechanism in positive moment continuity details for prestressed concrete girder bridges is investigated in this paper using a three-dimensional detailed finite element model. Positive moment reinforcement in the form of hairpin bars as recommended by the National Cooperative Highway Research Program Report No 519 is incorporated in the model. The cold construction joint that develops at the interface between girder ends and continuity diaphragms is also simulated via contact elements. The model is then subjected to the positive moment and corresponding shear forces that would develop over the service life of the bridge. The stress distribution in the continuity diaphragm and the axial force distribution in the hairpin bars are presented. It was found that due to the asymmetric configuration of the hairpin bars, asymmetric stress distribution develops at the continuity diaphragm, which can be exacerbated by other asymmetric factors such as skewed bridge configurations. It was also observed that when the joint is subjected to a positive moment, the tensile force is transferred from the girder end to the continuity diaphragm only through the hairpin bars due to the lack of contact between the both members at the construction joint. As a result, the stress distribution at girder ends was found to be concentrated around the hairpin bars influence area, rather than be resisted by the entire girder composite section. Finally, the results are used to develop an approach for estimating the cracking moment capacity at girder ends based on a proposed effective moment of inertia.

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• 한국정밀공학회지
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• 제27권11호
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• pp.37-45
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• 2010

Stroke patients can't use their hands because of the paralysis of their fingers. Their fingers are recovered by rehabilitating training, and the rehabilitating extent can be judged by grasping a spherical object. At present, the used object in hospital is only a spherical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching and watching at their fingers. So, the spherical object measuring system which can measure the force of their fingers should be developed. In this paper, the finger-force measuring system with a six-axis force/moment sensor which can measure the spherical-object grasping force is developed. The six-axis force/moment sensor was designed and fabricated, and the force measuring device was designed and manufactured using DSP (digital signal processing). Also, the grasping force test of men was performed using the developed finger-force measuring system, it was confirmed that the average force of men was about 120N.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.177-180
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• 2001

This paper describes the calibration method and the evaluation method of relative expanded uncertainty for a multi-axis force/moment sensor. This sensor should be calibrated to be use in the industry. Now, the confidence of the calibration result is expressed with interference error. But it is no inaccurate, because an interference error, besides, a reproducibility error of the sensor, a error of this six-axis force/moment sensor calibrator, and so on. Thus, in order to accurately evaluate the relative expanded uncertainty of it, the concept of the uncertainty should be induced, and these errors must be contained in the relative expanded uncertainty. In this paper, the calibration method is exhibited and the evaluation method of the relative expanded uncertainty is also exhibited. And, a six-axis force/moment sensor was calibrated and the relative expanded uncertainty was evaluated.

• International Journal of Control, Automation, and Systems
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• 제1권3호
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• pp.395-400
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• 2003

A quantitative performance evaluation of a robot teaching method using a force/moment direction sensor is presented. The performance of the teaching method using the force/moment direction sensor is compared with the conventional teaching pendant method. Two types of teaching tasks were designed and the teaching times required to complete the teaching tasks were measured and compared. Task A requires a teaching motion that involves four degrees of freedom motion. Task B requires a teaching motion that involves six degrees of freedom motion. It was found that, by using the force/moment direction sensor method, the teaching times were reduced by 25% for Task A and 45% for Task B compared to the teaching pendant method.