• 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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.90.6-90
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• 2002

An active stick which has the variable force-feel characteristics is developed. A combined position and force control strategy is mechanized using a 2-axis built-in force sensor and LVDT. The 2-axis force sensor which measures the stick force felt by the operator is developed by using strain gages and appropriate instrumental amplifiers. A mathematical model of the active stick dynamics is derived, and compared with the experimental results. The frictional torque of the stick due to the mechanical contacts of several parts makes the experimental frequency responses to be dependent on the magnitude of excitation signal, and the precision closed loop control to be difficult. A friction observe...

• Smart Structures and Systems
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• 제18권5호
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• pp.931-953
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• 2016

In this paper, the effects of mass eccentricity of superstructure as well as stiffness eccentricity of isolators on the amplification of seismic responses of base-isolated structures are investigated by using mathematical near-fault pulse models. Superstructures with 3, 6 and 9 stories and aspect ratios equal to 1, 2 and 3 are mounted on a reasonable variety of Triple Concave Friction Pendulum (TCFP) bearings considering different period and damping ratio. Three-dimensional linear superstructure mounted on nonlinear isolators are subjected to simplified pulses including fling step and forward directivity while various pulse period ($T_p$) and Peak Ground Velocity (PGV) amounts as two crucial parameters of these pulses are scrutinized. Maximum isolator displacement and base shear as well as peak superstructure acceleration and drift are selected as the main engineering demand parameters. The results indicate that the torsional intensification of different demand parameters caused by superstructure mass eccentricity is more significant than isolator stiffness eccentricity. The torsion due to mass eccentricity has intensified the base shear of asymmetric 6-story model 2.55 times comparing to symmetric one. In similar circumstances, the isolator displacement and roof acceleration are increased 49 and 116 percent respectively in the presence of mass eccentricity. Furthermore, it is demonstrated that torsional effects of mass eccentricity can force the drift to reach the allowable limit of ASCE 7 standard in the presence of forward directivity pulses.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1997년도 춘계학술대회논문집
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• pp.50-54
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• 1997

An expert drawbead model is developed to model a cranky drawbead in the finite element analysis of stamping processes. The expert model calculates the drawbead restraining forces (DBRF's) and bead-exit thinning, which are boundary conditions. DBRF's are calculated by considering bending force, unbending force, and friction force in order. Bead-exit thinning are due to the bending and tension during the deformation. The DBFR's and thinning computed form the mathematical model for the basic beads are compared with measurements and correction factors compensating for the differences are found using the multiple linear regression method. The composition beads are assumed to be a combination of basic beads so that the DBRF's and bead-exit thinning are computed to the sum of those of basic beads.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 추계학술대회(한국공작기계학회)
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• pp.111-116
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• 2001

In this paper, a simple 2 D.O.F. planar motion model is proposed in order to analyze the snake motion of a machining center cross head assembly, that is travelling on linear guide rails. In the proposed mathematical model, the friction between head and guide ways is neglected, and also the support structures including guide rails, rear- and side-panels of the machining center are assumed to be rigid. The equations of motion of the proposed model are derived and successfully solved to determine vibration responses of the head assembly due to some applied traction forces.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1999년도 제3회 압연심포지엄 논문집 압연기술의 미래개척 (Exploitation of Future Rolling Technologies)
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• pp.78-87
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• 1999

A mathematical model for the stress free surface profile in Over-Round and Round-Oval grove rolling, which can be used effectively in the calculation of pass area, is presented. The new model has generality, simplicity and accuracy for practical usage. The stress free surface profile of an outgoing stock can be modeled when the maximum spread of it known a priori. The equation for the stress free surface profile is formulated from the linear interpolation of the radius of curvature of an incoming stock and that of roll groove to the axis direction. In developing the analytical model, the effect of rolling temperature and friction between roll and work piece(stock) were not considered since the geometry of roll groove and the incoming work piece were assumed a dominant factor which decides the stress free surface profile of the outgoing stock. A simulation with the analytical model developed also has been carried out to demonstrate the stress free surface profile of the outgoing stock.

• 소성∙가공
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• 제10권2호
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• pp.130-136
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• 2001

The mathematical set-up model was developed to reduce the mechanical property deviation in annealed and slightly rolled steel strip. The mechanical peculiarities of skin pass rolling process, such as high friction value and non-circular contact arc, low reduction and non-negligible entry and exit elastic zones as well as central restricted deformation zone are all taken into account. The deformation of work rolls is calculated with the influence function method and arbitrary contact arc shape is permitted. The strip deformation is modeled by slab method and the entry and exit elastic deformation zones are included. The strip restricted deformation zone near the neutral point is also considered. It was revealed that the new model has better accuracy than present regression model by statistical analysis with actual mill rolling data.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.317-317
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• 2000

The mathematical set-up model was developed to reduce the mechanical property deviation in annealed and slightly rolled steel strip. The mechanical peculiarities of temper rolling process, such as high friction value and non-circular contact arc, Low reduction and non-negligible entry and exit elastic zones as well as central restricted deformation zone are all taken into account. The deformation of work rolls is calculated with the influence function method and arbitrary contact arc shape is permitted. The strip deformation is modeled by slab method and the entry and exit elastic deformation zones are included. The restricted deformation Bone near the neutral point is also considered. It was revealed that the new model has better accuracy than present regression model by statistical analysis with actual mill rolling data.

• 한국정밀공학회지
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• 제7권4호
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• pp.140-148
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• 1990

A mathemetical medel has been developed for the purpose of estimating the rolling force required for computer control of cold strip mills. The model consists of equations of rolling force. flow stress. friction coefficient and tension. By applying the model to a 6-High cold tandem mill, the computer simulation is then been possible for all kinds of steels except stainless steel and the effectiveness of the model has been confirmed in the practice.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1999년도 제3회 압연심포지엄 논문집 압연기술의 미래개척 (Exploitation of Future Rolling Technologies)
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• pp.293-300
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• 1999

A mathematical model for the analysis of roll gap phenomena in strip temper rolling process is described. The mechanical peculiarities of temper rolling process, such as high friction value and non-circular contact arc, low reduction and non-negligible entry and exit elastic zones as well as central restricted deformation (preliminary displacement or sticking) zone etc., are all taken into account. The deformation of work rolls is calculated with the influence function method and arbitrary contact arc shape is permitted. The strip deformation is modeled by slab method and the entry and exit elastic deformation zones are included. The restricted deformation zone near the neutral point is also considered. The concept and the calculation method of limiting preliminary displacement are used to determine the length of the central restricted deformation zone. The comparison of the model results with the measured mill data is also made.