• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• Transactions of Materials Processing
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• v.26 no.6
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• pp.348-355
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• 2017

In recent years, dissimilar materials such as aluminum, magnesium, titanium, and advanced high strength steel are widely used in automotive body due to environment concerns and fuel consumption. Therefore, joining technology is important for assembling components made of dissimilar materials. In this study, friction stir hole clinching (FSHC) was proposed as a new mechanical joining method to join dissimilar materials. This process stirs and heats the upper sheet, forming mechanical interlocking with the lower sheet. The feasibility of this FSHC process was verified by comparing cross-section of joint in FSHC and hole clinching process under the same processing condition. Taguchi method was also applied to the FSHC process to estimate the effect of process parameters on joint strength and obtain optimal combination of process parameters. Joint strength of FSHC with optimal process condition was compared to that of FSHC with initial process condition as well as that of hole clinching with optimal process condition. Results showed that the FSHC process was useful for joining dissimilar materials, even if the formability of materials was low.

• Journal of Ocean Engineering and Technology
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• v.13 no.3 s.33
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• pp.77-82
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• 1999

The compleete joining method for dissimilar hot die punch materials and its real-time evaluation method are not available at present. Brazing method has been used for joining them, but it is known that the welded joint by the brazing has the lower bonding efficiency and reliability than the diffusion welding. The friction wleding with a diffusion mechanism in bonding was applied in this study. So, this work was carried out to determine the optimal friction welding conditions and to analyze mechanical properties of friction welded joints of hot die punch materials (STD61 for the blade part of hot die punch) to alloy steel (SCM440 for the shank park of hot die punch) such as plunger. In addition, acoustic emission test was carried out during friction welding to evaluate the weld quality.

• Journal of the Korean GEO-environmental Society
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• v.8 no.1
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• pp.49-55
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• 2007

In order to utilize treads of waste tire as reinforcement material it is necessary to know the interface friction angle between tread surfaces and soil and tensile strength of connection joint of tire treads. In this research large direct shear tests were performed to get the interface friction angle between the inner and outer surfaces of treads and soil for different degree of compaction. From the large direct shear tests, the ratio of interface friction angle to the shear friction angle of sand, ${\delta}/{\phi}$, were 1.06 in outside surface of tire tread and 0.93 in inside surface of tire tread. For weathered granite soil the ratio of interface friction angle was 0.98 and 0.92 for outside and inside of tread, respectively. Also tensile tests were performed using universal testing machine for the connection joint of treads and Tirecell units using bolts. The tensile strength of connection joint increased with the number of bolts and with the sizes of washers. Connection by polypropylene ropes showed lower strength than those of bolts.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1747-1751
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• 2003

The paper shows properties such as vickers hardness, yielding and ultimate stresses for the weld zone of the butt and the lap jointed specimens, and compare maximum loads, stress-strain curves, deformation appearance after guided bending test and fracture appearance for butt and lap jointed specimens. The research in this experiment also shows the weldability of the butt joint specimen is better than that of the lap joint specimen using FSW with $2mm^{t}$ aluminum alloy sheet in milling machine.

• Tunnel and Underground Space
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• v.29 no.5
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• pp.292-304
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• 2019

Limestone joint surfaces with smooth roughness were experimented by means of both the individual direct shear tests based on the KSRM standard test method and the multi-stage direct shear test to apply the stepwise vertical stresses. Changes in the roughness of the joint surfaces before and after the shear tests were examined and the difference between the two kinds of tests mentioned above was analyzed. In both tests, the shear resistance increased as the joint roughness increased and the maximum shear stress required for shearing the joint surface increased as the vertical stress increased. The peak friction angle obtained by the multi-stage direct shear tests was only 63% of that obtained by the individual direct shear tests. In the multi-stage direct shear test, the initial engagement of the concave-convex parts changes frequently during stepwise shearing process, which deforms the original roughness of a joint surface. Accordingly, the individual direct shear test is thought to be more effective when obtaining the friction angle of the rock joint surfaces. Limestone joint surfaces with smooth roughness of JRC value 4~8 were found to have peak friction angle of $47^{\circ}$, residual friction angle of $38^{\circ}$ and cohesion of 37 kPa.

• Transactions of Materials Processing
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• v.29 no.1
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• pp.11-19
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• 2020

For microstructural analysis of a friction stir welded (FSWed) joint of advanced high-strength steels, dual phase (DP) and complex phase (CP) steels, are studied. FSWed joints are successfully fabricated in the following four cases: (i) DP/DP; (ii) CP/CP; (iii) DP/CP, where the advancing side is DP and the retreating side is CP; (iv) CP/DP, where the advancing side is CP and the retreating side is DP. The stir zone (SZ) of (i) the DP/DP joint mainly consists of lath martensite, while the stir zone of (ii) the CP/CP joint consists not only of lath martensite but also of bainite. In the case of (iii) DP/CP and (iv) CP/DP, they exhibit a similar microstructure including acicular-shaped phases in the joints; however, cross-sections of the joints show differences in material mixing in each case. In (iv) the CP/DP joint, temperature towards the CP steel is sufficient to cause softening, thus leading to better mixing than that in (iii) DP/CP. The phases of the SZ in each of the four cases are formed by phase transformation during the FSWed process; however, the transformed phase volume fraction of CP steel is lower than that of DP steel, indicating that dynamic recrystallization occurs mainly in CP steel. The hardness values of the SZ are significantly higher than those of the base materials, especially, the SZ of (iii) the DP/CP joint has the highest value due to highest fraction of lath martensite.

• Journal of Welding and Joining
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• v.28 no.1
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• pp.34-40
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• 2010

In Friction Stir Lap Welding(FSLW), the movement of material within the weld was more important than the microstructure, due to the interface present between the sheets. Thus, The soundness of free defect, Effective Sheet Thickness(EST) and width of joint were most important factor of mechanical properties. Specimens by lap joint types that were 'A-type' and 'R-type' were made in this study. A-type tensile specimen was loaded at advancing side and R-type tensile specimen was loaded at retreating side. Macro-, micro-structural observation and mechanical properties of FSLW A5052-H112 alloy ware investigated under varying rotating and welding speed. The results were as follows: Material hook formed decreasing after sharply increasing was appeared at the end interface of joint area in advanced side, and material hook formed decreasing after smoothly increasing was observed at that in retreated side. Tensile load had no relation with defects. As rotating speed was higher, tensile strength was increasing and EST was decreasing regardless of joint types. joint efficiency was over 70%. In a result of fractography, fracture in A-type was partially occurred by dimple in SZ, and fracture in R-type was generally occurred by dimple in HAZ.

• Journal of Ocean Engineering and Technology
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• v.22 no.1
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• pp.53-57
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• 2008

Friction welding was performed to investigate mechanical properties for Ni-base superalloy with 15 mm diameter solid bar. The main friction welding parameters were selected to endure good quality welds on the basis of visual examination, tensile tests, impact energy test, Vickers hardness surveys of the bond of area and heat affected zone. And then, the nondestructive technique to evaluate the weld quality was carried out by acoustic emission(AE) and ultrasonic attenuation coefficient. The tensile strength of the friction welded joint was shown up to 90 % of the Alloy718 base metal under the condition of the heating time over 5 sec. The optimal welding conditions were n=2,000 rpm, $P_1=200$ MPa, $P_2=200$ MPa, $t_1=8$ sec and $t_2=5$ sec when the total upset length was 4.4 mm.

• Journal of Ocean Engineering and Technology
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• v.13 no.1 s.31
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• pp.1-10
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• 1999

The engine exhaustive valve became essential as the important element. The dissimmilar welding method of exhaustive valve head to stem was asked for manufacturing the engine exhaustive valve, for which the electric resistance are welding has been conventionally used, resulting in poor quality of the welded joint. In this paper, not only the development of optimizing of friction welding with more reliability and more applicability but also the development of in-process real-time weld qudlity(such as strength and toughness) evaluation technique by acoustic emission for friction welding of the engine exhaustive valve(SUH3-SUH35 dissimilar steels) were perfomed. The high temperature(500, 500, 600$^{circ}$C) creep properties prediction of the friction welded joint of SUH3-SUH35 was investigated relating to the initial strain meethod(ISM) as a new approach, resulting in obtaining an experimental equation of creep life prediction.