• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.22 no.5
• /
• pp.459-467
• /
• 2012

In this work, the configuration of a haptic gripper featuring magnetorheological(MR) brakes is proposed and an optimal design of the MR brakes for the haptic griper is performed considering the required braking torque, the uncontrollable torque(zero-field friction torque) and mass of the brakes. Several configurations of MR brake is proposed such as disc-type, serpentine-type and hybrid-type. After the configurations of the MR brakes are proposed, braking torque of the brakes is analyzed based on Bingham rheological model of the MR fluid. The zero-field friction torque of the MR brakes is also analyzed. An optimization procedure based on finite element analysis integrated with an optimization toolbox is developed for the MR brakes. The purpose of the optimal design is to find optimal geometric dimensions of the MR brake structure that can produce the required braking torque and minimize the mass of the MR brakes. In addition, the uncontrollable torque of the MR brakes is constrained to be much smaller than the required braking torque. Based on the developed optimization procedure, optimal solution of the proposed MR brakes are achieved and the best MR brake is determined. The working performance of the optimized MR brake is then investigated.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
• /
• 1998.04a
• /
• pp.328-334
• /
• 1998

In this work, friction materials with three different formulations containing different amounts of the solid lubricants were investigated to study the role of lubricants on the friction performance. The three friction materials contained graphite 10 vol. %, graphite 7 vol. % + MoS$_2$ 3 vol.%, and graphite 7 vol. % + $Sb_2S_3$ 3 vol. %, respectively, with the same amount of other ingredients. Results of this work showed that each formulation with different lubricants had unique advantages and disadvantages. The friction materials containing graphite 7 vol. % + MoS$_2$ 3 vol. % and graphite 7 % + $Sb_2S_3$ 3 vol. % showed better resistance to fading and improved friction stability compare to the friction materials containing graphite only as a lubricant. However, the friction materials with two lubricants (graphite + MoS$_2$ or $Sb_2S_3$) showed disadvantages on stick-slip phenomena, amplitude of torque, and rotor wear.

• Proceedings of the KSME Conference
• /
• 2003.04a
• /
• pp.893-898
• /
• 2003

Coulomb friction is an important factor for precise position tracking control systems. The control systems with friction causes the steady state error because of being sensitive to the change of system condition and highly nonlinear characteristics. To overcome these problems, we use an estimation scheme of Coulomb friction to experiment for it's compensating. The estimated factor for Coulomb friction is used as a feed-forward compensator to improve the tracking performance of ball-screw systems. The tracking performance was improved by compensating the estimated friction torque in the feed-forward term. And, the sliding mode control which is derived from the Lyapunov stability theorem is applied for robust stability and reducing chattering. The experimental results show that the sliding mode controller with adaptive friction compensator has a good tracking performance compared with the friction uncompensated controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 1988.10a
• /
• pp.148-153
• /
• 1988

In this study, the stabilization of moving sight using a gyro is investigated. At first, Linear Compensator was design by linearizing gyro, torque motor and several parameters from a given required frequency response curve. By using this, System Control Performance was analyzed by back EMF, torque saturation and Coulomb friction effects. Also stabilization Performance by disturbances and Paramter variations were simulated.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.10a
• /
• pp.521-522
• /
• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.10a
• /
• pp.793-794
• /
• 2012

• Transactions of the Korean Society of Automotive Engineers
• /
• v.12 no.4
• /
• pp.101-109
• /
• 2004

Three models with various degree-of-freedom for a manual transmission clutch full-size tester have been developed and the models' reliability and accuracy have been verified using the measured data. A simulation study has also been conducted to understand dynamic behavior of the tester. The model for this simulation study includes clutch disk friction and damper dynamics. The developed model is very accurate in terms of maximum torque exerted on the clutch, slip duration and the vibration response except a slight difference compared to the measured data. In a history graph of the clutch torque, the maximum torque response from simulation is flat but the measured is sunken with a noticeable curvature. This phenomenon is found to be irrelevant to the dynamics of the full-size tester but is originated from the characteristics of the clutch itself. Thus, the full-size tester has been proven to be a reliable tester for clutch's power and torque transmission capability. To obtain a better understanding of clutch's characteristics and relationship between full-size tester and other testing methodologies, future research directions have been suggested.

• Journal of the Korean Society for Precision Engineering
• /
• v.32 no.2
• /
• pp.149-157
• /
• 2015

Ball and roller bearings are commonly used machine elements for supporting rotating motion about shafts in simple devices including bicycles, in-line skates, and electric motors, as well as in complex machines. Heat is generated by the friction in the bearings, which causes the temperature inside the bearing to increase. If the heat is not appropriately removed from the bearing, elevated temperatures may give rise to premature failure. It is, therefore, important to be able to calculate the temperature in the bearings due to friction.Here, we describe a method to estimate the frictional torque in bearings using an empirical formula developed using a method based on bearing analysis tool and the measured frictional torque in a spindle system. Thermal analysis of the spindle system including the bearings was achieved using the finite element method (FEM), and the bearing temperature was compared with measured data to verify the empirical formula.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.26 no.11
• /
• pp.2429-2435
• /
• 2002

The aim of this paper is to investigate the problem of strip down method, which is usually used to evaluate the engine friction level. The validity of strip down method was investigated by theoretical analysis of friction in crank and piston assembly. The friction of cylinder and piston assembly was analyzed under the various test conditions. The measured cylinder pressure was used as boundary conditions of friction torque and loss calculation. The friction loss of crank and piston assembly was influenced by test conditions that resulted from the variation of load condition. From the results, we have known that the strip down method could be possible to distort the friction loss of engine moving components.

• Journal of Industrial Technology
• /
• v.24 no.B
• /
• pp.207-214
• /
• 2004

An active stick which supplies force feedback to the operator is developed in this study. A mathematical model of the active stick is derived, and compared with the experimental result. It turns out that the frictional torque due to the mechanical contacts of several parts of the stick is one of the major barriers to achieve high precision operation of the stick. The frictional effect of the stick is cancelled out by using a friction observer. The efficacy of the friction observer is verified through the numerical simulation. Because of the observer dynamics, there are some limitations in exact recovering the static friction and Stribeck effect. However, the friction observer follows the real friction on the average. It's anticipated that the application of the friction observer to the closed loop control of the active stick improves the performance of the displacement versus force characteristics, which will be proved experimentally in the further study.