• Tribology and Lubricants
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• v.20 no.3
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• pp.140-144
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• 2004

Water-lubrication ball bearings are required to install in aqueous medium where water is used as coolant or working fluid. However water-lubricated frictional characteristics of stainless steel ball bearing is not will known compared to oil-lubricated frictional characteristics. Furthermore study on friction at high temperature is rare because bearing maintenance strategy for water-lubricated or chemicals-lubricated bearings of equipment is mostly based on change of failed bearings and parts. Ball bearings and ball screws are used to transmit power in the control rod drive mechanism for an integral reactor and are lubricated with high temperature and high pressure chemically-controlled water. Bearings and power transmitting mechanical elements for a nuclear reactor require high reliability and high performance during estimated lifetime, and their performance should be verified. In this paper, experimental research results of frictional characteristics of water-lubricated ball bearing are reported.

• KSTLE International Journal
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• v.2 no.1
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• pp.75-79
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• 2001

This paper is a report on the parametric study of the friction characteristics on the direct acting type OHC valve train system. The numerical simulation was performed by using the IV-TAP. Dynamic analysis by using the lumped mass method was previously performed to define the acting load. The friction characteristics were analyzed by using the partial asperity contact model. The effects of operating conditions and major design parameters on the total driving torque were investigated. From the analytical prediction, it is found that valve spring stillness, surface roughness, and base circle radius are the main factors to reduce the frictional loss on the valve train system.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.887-898
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• 2004

In this paper a mathematical framework fur 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.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.530-532
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• 2002

This paper presents an optimum design of herringbone grooved journal bearing for spindle motor of hard disk drive (HDD) system. In addition to the conventional “rectangular” groove, various groove profiles are designed. The stiffness and damping coefficients of the oil film and frictional torque are calculated and compared for tile various groove profiles. The “circular”, “valley”, and “reversed saw tooth” grooves do not produce high direct stiffness, since they partly increase the groove depths in the direction of lubricant flow, causing to reduce the pumping action of the bearing. The maximum direct stiffness can be obtained by the “rectangular”, “saw tooth”, and “step” grooves. With the same cross sectional area of the grooves, these three grooves have the same maximum stiffness, damping coefficients, and frictional torque. Among these recommendable grooves, the saw tooth groove may keep its original profile for long, enduring metal-to-metal contact during startup and shutdown.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.9 no.1
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• pp.93-98
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• 2010

The metal fastening method is the new technology to repair cracks in the casting material using specially designed reverse screws. In this study, we conduct the finite element analysis to analyze the pulling force characteristic of a reverse screw, the core component of the metal fastening method, with respect to the change of the applying torque, frictional coefficient and front screw angle. The simplified analysis model with single screw pitch is proposed for convergency of the non-linear contact analysis. As a results, the pulling force of a reverse screw increase in proportion to the applying torque but exponentially decrease according to frictional coefficient. And also we can find the optimum front screw angle with the largest pulling force is $20^{\circ}$.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.289-290
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• 2002

Stainless steel ball bearings are used in the control element drive mechanism and driving mechanisms such as step motor and gear boxes for the integral nuclear reactor, SMART. The bearings operate in pressurized pure water (primary coolant) at high temperature and should be lubricated with only this water because it is impossible to supply greases or any additional lubricant since the whole nuclear rector system should be perfectly sealed and the coolant cannot contain ingredients for bearing lubrication. Temperature of water changes from room temperature to about 120 degree Celsius and pressure rises up to 15MPa in the nuclear reactor. It can be anticipated that the frictional characteristics of the ball bearings changes according to the operating conditions, however little data are available in the literature. It is found that friction coefficient of 440C stainless steel itself does not change sharply according to temperature variation from the former research, and the friction coefficient is about 0.45 at low speed range. In this research frictional characteristics of the assembled ball bearings are investigated. A special tribometer is used to simulate the axial loading and the bearing operating conditions, temperature and pressure in the driving mechanism in the nuclear reactor. Highly purified water is used as lubricant ‘ and the water is heated up to 120 degree Celsius and pressurized to 15MPa. Friction force is monitored by the torque transducer.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.139-146
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• 2020

In this paper, the slope of the footplate is adjusted to compensate for the centrifugal force with a series elastic actuator (SEA) attached to the Segway's body to improve the cornering characteristics during turning. To ensure Segway's driving safety in the curvature motion, it is necessary to compensate for the centripetal force by tilting the footplate to generate inward force from gravity. When the footplate is tilted under the control of SEA, the vertical load on both wheels has been changed accordingly. The frictional force of the wheel has been changed by the change of the vertical force, which requires adjustment of driving torque to keep the curvature trajectory. That is, the driving torque has been controlled to keep the curvature trajectory considering the frictional force caused by the turning motion. Four SEAs are attached to the footplate to control the slope of the footplate and the real curvature motion has been demonstrated to verify the effects of SEAs in the high- speed curvature motion.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• Journal of the Earthquake Engineering Society of Korea
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• v.17 no.5
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• pp.227-235
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• 2013

Friction energy dissipative devices have been increasingly implemented as structural seismic damage protecting systems due to their excellent seismic energy dissipating capacity and high stiffness. This study develops rotational friction energy dissipative devices and verifies experimentally their cyclic response. Based on the understanding of the differences between the traditional linear-motion friction behavior and the rotational friction behavior, the configuration of the frictional surface was determined by investigating the characteristics of the micro-friction behavior. The friction surface suggested in this paper consists of brake-lining pads and stainless steel sheets and is normally stressed by high-strength bolts. Based upon these frictional characteristics of the selected interface, the rotational friction energy dissipative devices were developed. Bolt torque-bearing force tests, rotational friction tests of the suggested friction interfaces were carried out to identify their frictional behavior. Test results show that the bearing force is almost linearly proportional to the applied bolt torque and presents stable cyclic response regardless of the experimental parameters selected this testing program. Finally, cyclic tests of the rotational friction energy dissipative devices were performed to find out their structural characteristics and to confirm their stable cyclic response. The developed friction energy dissipative devices present very stable cyclic response and meet the requirements for displacement-dependent energy dissipative devices prescribed in ASCE/SEI 7-10.

• Computational Structural Engineering
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• v.7 no.3
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• pp.133-141
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• 1994

When a bolt is tightened up to the range of plastic deformation, yielding may be governed by the combined stresses due to the axial force developed in the bolt and the frictional torque induced on the thread by the contact with the nut. Consideration is taken account of the fact that the unengaged portion of the thread has least sectional area, being subject to initial yielding. Once yielding has taken place some strain hardening effect may result. Incremental stress-strain relations are used to treat the continued yielding, which is equivalent to treat continued yielding as if summing up the effects of thin walled cylinders subject to plastic deformation. M10 bolts of fine threads are used for both computational and experimental purposes. Variation of axial forces and frictional torques vs. the frictional coefficients are presented together with other plots showing some characterist of bolt under plastic deformation. Finally, a design and control aid for the tightening(i.e., kind of nomograph) is presented, showing the relationships among the torque factor and frictional coefficients for that particular bolt used in the experiment.