• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.2
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• pp.467-475
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• 1998

The Six Degree-of-Freedom manipulators are generally operated by linear actuators which are hydraulic cylinder, pneumatic cylinder, ball-screw. But these actuators are not adequate to have a wide work-space, and furthermore some of them have a self-locking property. Therfore, we have designed a new manipulator which fully overcomes these demerits. The new manipulating system consists of 6 DC-motors to generate operation forces and 6 position transducers to feedback displacement signals. This paper presents an overview of the design and characteristics of 6 Degree-of-Freedom force feedback manipulators for vitual reality implementation. we can operate Six Degree-of-Freedom manipulator with six motors and six potentiometers.

• Proceedings of the KIEE Conference
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• 2003.04a
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• pp.9-12
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• 2003

Brushless do motors have been replacing brush type motors in machine tool and robotics applications over the last number of years This Paper deals with the design and application of the slot-less permanent magnet synchronous motor (PMSM). The slot-less PMSM eliminates rotational cogging torque due to permanent magnet preferred positions decreases core loss and thus increases efficiency, provides excellent torque-to-volume and power-to-volume ratios, and has a linear current versus torque relation. The PMSM with slot-less stator is designed and manufactured, which will be used for high speed and high efficiency application such a medical instruments.

• Proceedings of the KIEE Conference
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• 2007.10c
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• pp.65-67
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• 2007

In this paper describes the design and characteristic analysis of a novel 2-DOF(Degree of Freedom) motor. For multi DOF actuating, several numbers of motors have been used. But the using of normal motors they connected each other in single joint, have necessary to a several type of complex power transmission devices. The 2-DOF motor can drive pan, tilt motion in only one unit and it is not necessary to use additional gears and links parts. Therefore by the using of 2-DOF spherical motor ran eliminate; combined effects of inertia, backlash, non-linear friction, and elastic deformation of gears. The validity of the analysis is confirmed by 3D finite element method.

• Proceedings of the KIEE Conference
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• 2001.07b
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• pp.660-662
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• 2001

This paper describes the problems generated with the use of PWM ASDs with induction motors. The major effect of harmonic voltages and currents in induction motors is increased the heating due to iron and copper losses at harmonic frequencies. The harmonic components thus affect the motor efficiency and developed the torque. In order to investigate the effect of harmonics which is caused by using of nonlinear load at the low voltage system, we set up simple load system and measured the voltage and current. Measurement results show that additional operation of induction motor at the parallel bus in using nonlinear load such as ASD is helpful to the reduction of harmonic current.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.95-99
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• 1994

Robot engineering is developed mainly in the field of intelligibility such as a manipulation. Considering the popularization of robots in the future, however, a robot should be studied from a viewpoint of saving energy because a robot is a kind of machine with a energy conversion. This paper deals with minimizing an energy consumption of a manipulator which is driven in a point-to-point control method. When a manipulator carries a heavy payload toward gravitation or the links are de-accelerated for positioning, the motors at joints generate electric energy. Since this energy can be regenerated to the source by using a chopper, the energy consumption of a manipulator is only heat loss by an electric and a frictional resistance of the motors. The minimization of the sum of these losses is reduced Lo a two-points boundary-value problem of an non-linear differential equation. The solutions are obtained by the generalized Newton-Raphson method in this paper. The energy consumption due to the optimum angular velocity patterns of two joints of a two-links manipulator is compared with conventional velocity patterns such as quadratic and trapezoid.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.99.4-99
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• 2001

PMAC(Permanent magnet AC) motor drives are widely used in the industrial applications and home appliances because of high torque ratio, high efficiency and precise control performance. In recent years there has been a significant development of PMAC motors of various kinds. Improvements in the properties of permanent magnet materials have increased the viability of related types of motors. However, precise speed and position information is essential for the good control performance. In order to produce correct torque, the rotor flux position information from position sensor has to be identified. In this paper, a low cost position sensor is proposed for improving of starting and low speed performance of PMAC. The proposed position ...

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.7
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• pp.862-867
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• 1999

In general, the realization of high performance brushless permanent magnet motors which are widely used in servo drive is focused on the linear control for ripple-free torque. This is also the main problem that should be solved in all AC motors including induction motor to achieve high performance control, and recent papers deal with this problem. In this paper, the novel optimal excitation scheme of brushless permanent magnet motor producing loss-minimized ripple-free torque based on the d-q-0 reference frame is presented including 3 phase unbalanced condition. The optimized phase current waveforms that are obtained by the proposed method can be a reference values and the motor winding currents are forced to track it by delta modulation technique. As a results, it can be shown that the proposed work can minimize the torque ripple by the optimal excitation current for brushless permanent magnet motor with any arbitrary phase back EMF waveform. Simulation and experimental results prove the validity and practical applications of the proposed control scheme.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.76-81
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• 2012

In-process evaluation equipment for the prominent discrete tone (PDT) emitted by small motors or actuators such as HDD(Hard Disk Driver), ODD(Optical Disk Driver) or linear motors has been developed and estimated on the basis of Prominence Ratio (PR) method in ECMA 74. Correlation of the evaluation equipment was performed in comparison with the method by ECMA 74 in anechoic chamber. Coherent function between two systems was applied in order to compensate traceability of ECMA 74 in anechoic chamber. Usability of the developed system with estimated Gage R&R shall be approved with real samples in the mass production line.

• Proceedings of the KIEE Conference
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• 1995.11a
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• pp.9-11
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• 1995

In this paper, tile squirrel case induction motors required multi-objective function are designed. As the objective function of the optimization program, we select the linear combination of loss and mass of motors by using weighting factors. Optimization process is performed by using the evolution strategy (ES). ES is the algorithm that can find the global minimum. To verify validity of the proposed method, a sample design is tried.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.310-315
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• 1998

In this paper a new analytical model for the non-linear flux-linkage/current characteristics of the switched reluctance motors at different rotor positions is proposed. The model has been successfully verified by the simulation and the experimental results of the instantaneous current waveforms and the average torque values in both single pulse and multiple pulse operation of the motor. The uniqueness of the model lies in its defining a simple algorithm for determining the rotor position ($\theta$). Hence, sensorless operation of the motor can be easily implemented with the aid of this model.