• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1424-1429
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• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• Tribology and Lubricants
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• 제30권5호
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• pp.265-270
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• 2014

Frictional heat greatly influences the friction behaviors during clutch engagement. Therefore, the engagement of a wet or dry clutch is frequently not under control by the frictional heat. In a wet clutch, the frictional temperature also specially needs to be controlled, and in many cases, the clutch material is selected to prevent a temperature rise from the friction between friction pad and separator. However, only the selection of the clutch material cannot ensure sufficient control of the temperature rise by the friction. The groove pattern on a friction pad is designed for more flow rates of transmission fluid between the contact gap of clutch pad and separator for the cooling effect. In this work, grove patterns are designed for more flow rates out of the contact gap between friction pad and separator plate. Selected groove design shows the improvement flow rates of transmission fluid through both inner and outer radius, where most of the transmission fluid flows through the outer radius when the clutch is engaged due to the centrifugal force in conventional wet clutch groove. Several comparisons of the amounts of frictional heat generated on clutch pads are made in order to verify the decrease of the temperature rise according to the flow rates along the groove patterns.

• Tribology and Lubricants
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• 제36권6호
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• pp.324-331
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• 2020

Wedging in a frictional elastic system is defined if the state of stick exists after the external loading on the system is removed. This paper presents a method to determine the critical coefficient of wedging for an elastic frictional system by considering the separation state. Wedging is always possible if the coefficient of friction exceeds a critical value known as the critical wedging coefficient. This method requires two concepts: a necessary and sufficient condition for wedging, which can be interpreted as positive spanning sets of constraint vectors existing in the wedged system, and the minimal positive basis that enables a minimum wedging coefficient. The algorithm based on the positive spanning concept is repeatedly executed after eliminating nodes from the contact stiffness matrix, for which the separation states are impending. The simulation results show that once a node enters the separation state, it never returns to the contact state again and the critical wedging coefficient reduces during repeated algorithm execution. The benefit of this method is that the computation time permits handling models with large numbers of contact nodes. The algorithm can also numerically find the critical wedging coefficient, thereby contributing to fastening and assembly performance improvements in mechanical systems.

• 기계저널
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• 제16권2호
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• pp.122-127
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• 1976

It was reported in the Journal of KSME Vol. 15, No. 3 and No. 4, 1975 that could be finished the best smooth surface by applying frictional work to the metal surface. Even if we can finish the best smooth surface of methal, it is not available when it has not anti-wear. Present study tried to investigate the anti-wear and the characteristics of frictional worked surface by using the sliding contact between plain bearing of brass and frictional worked jornal of mild steel. The results were compared with the case of ground journal.

• 한국융합학회논문지
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• 제9권1호
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• pp.283-289
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• 2018

자동차 디스크 브레이크시스템에서는 열유속 및 열변형 등과 같은 이유로 마찰열이 균일하게 분산되지 않는다. 마찰열에 의한 열탄성 변형이 접촉압력 분포에 영향을 미치게 되고, 접촉하중이 디스크 브레이크 표면상의 작은 영역에 집중되어 열탄성 불안정성을 초래 할 수 있다. 본 연구에서는 실험적 계산식과 Kao 제안한 디스크와 패드의 접촉압력에 대한 해석방법을 참고로 하여 3차원 축대칭 모델을 통하여 실제로 제동 시 발생되는 디스크와 패드의 접촉을 고려한 온도해석 및 열변형 해석을 하였다. ANSYS를 사용하여 디스크와 패드의 접촉면에서 발생하는 열탄성 불안전성 문제를 열하중과 기계적 하중으로 동시에 고려하여 해석하였다. 디스크와 패드가 직접 접촉하는 3차원 축대칭 모델을 구성하여 디스크의 마찰면 온도, 열변형, 접촉 열응력을 관찰함으로써 디스크에서 일어나는 열적 거동을 보다 정확하게 관찰하였다.

• Tribology and Lubricants
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• 제18권6호
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• pp.389-395
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• 2002

The surface temperature at the interface of bodies in a sliding contact is one of the most important factors influencing the behavior of machine components. The calculation of the surface temperature at a sliding contact interface has been an interesting and important subject for tribologist. Temperature analyses were usually performed under the consideration contacted two bodies as semi-infinite. But the analysis was difficulty in being applied to finite body and considering the boundary condition. In this study, contact temperature rise of two finite bodies and surfaces due to frictional heating under the rectangular and the circular sliding contact is calculated. Heat partition factor is calculated using semi-infinite solid analysis and the temperature of the finite bodies is calculated using FVM. It will be shown that Most frictional heat in the fore part of contact region for sliding direction is conducted into body that has a moving heat source and the site of the maximum temperature rise moves to the opposite direction of sliding during sliding.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 1997년도 제25회 춘계학술대회
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• pp.232-241
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• 1997

The tribological behavior for MoS$_2$ bonded films is evaluated according to the international standard testing methods, such as ASTM D 2625(Falex tester) and ASTM D 2714(LFW-1 tester). It has been well known that the tribological behavior for MoS$_2$ bonded films is affected by several factors. However, in this work, the wear life for MoS$_2$ bonded films is mainly experimentally measured with different contact geometry, and evaluated in terms of the frictional heating according to the contact geometry of tribotester. The test results show that the wear life of MoS$_2$ bonded films is significantly affected not only by the frictional heating, but also by the contact pressure, test running-in conditions, and the contact conformity.

• Tribology and Lubricants
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• 제13권3호
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• pp.20-27
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• 1997

The tribological behavior for $MoS_2$ bonded films is evaluated according to the international standard testing methods, such as ASTM D 2625 (Falex tester) and ASTM D 2714 (LFW1 tester). It has been well known that the tribological behavior for $MoS_2$ bonded films is affected by several factors. However, in this work, the wear life for $MoS_2$ bonded films is mainly experimentally measured with different contact geometry, and evaluated in terms of the frictional heating according to the contact geometry of tribotester. The test results show that the wear life of $MoS_2$ bonded films is significantly affected not only by the frictional heating, but also by the contact pressure, test running-in conditions, and the contact conformity.

• 대한기계학회논문집
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• 제18권3호
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• pp.540-547
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• 1994

Contact and frictional locking conditions and the effect of shielding due to contact at the facet, which could be represented by the difference in energy release rate, as a function of phase angle of loading are analyzed in this study for the case of interfacial cracks by assuming single crack-kink model. The analysis of contact effects on interfacial fracture resistance shows that relative shielding increases as the shear component was increased, which indicates a qualitative agreement with the previous experimental results.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.517-522
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• 2000

When a body including a crack inside is subjected to the compressive forces, the crack is closed and sliding occurs on the crack surfaces. In this work, a subsurface crack subjected to a static or moving compressive load is analyzed with the finite element method considering friction on the crack surface. The friction on the crack surface is assumed to follow the Coulomb friction law. A numerical method based on the finite element method and iterative method is applied in this work. And the result is compared with the frictional contact of crack by ANSYS using contact 12 element. The numerical results of two methods are compared with the wellknown analytical solutions, and the accuracy of iterative method is checked..