• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.3
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• pp.194-202
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• 2014

Steering axis of suspensions is an important factor that affects ride and handling quality in the vehicle chassis development. Macpherson strut and double wishbone's steering axis are defined geometrically, but multi-link suspensions can not be geometrically analyzed. In this case instant axis theory is commonly used to find a steering axis. Since the steering axis is moving with varying caster and kingpin inclination angle, this method approximately corresponds with exact solution. In this paper, we propose a velocity analysis method to find a pure rotational axis of the wheel relative to suspension arms, that is exact solution of the steering axis. This paper extends the method to analyze the steering axis of multi-link suspensions with bushing compliance. The analysis results applied to double wishbone and multi-link suspensions demonstrate validity and accuracy of the proposed method.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.3
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• pp.5-11
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• 2002

This paper describes the methods for calibration and evaluation of the relative expanded uncertainty of a multi-axis force/moment sensor. In order to use the sensor in the industry, it should be calibrated and its relative expanded uncertainty should be also evaluated. At present, the confidence of the sensor is shown with only interference error. However, it is not accurate, because the calibrated multi-axis force/moment sensor has an interference error as well as a reproducibility error of the sensor, etc. In this paper, the methods fur calibration and for evaluation of the relative expanded uncertainty of a multi-axis force/moment sensor are newly proposed. Also, a six-axis force/moment sensor is calibrated with the proposed calibration method and the relative expanded uncertainty is evaluated using the proposed uncertainty evaluation method and the calibration results. It is thought that the methods fur calibration and evaluation of the uncertainty can be usually used for calibration and evaluation of the uncertainty of the multi-axis force/moment sensor.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.635-640
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• 2000

This paper presents the analysis method of the instantaneous screw axis using line geometry in bump and rebound motion of 5-SS multi-link suspensions. Instantaneous screw axis is based on screw motion, and screw motion of zero pitch can be expressed as $Pl{\ddot{u}}cker$ line coordinates of line geometry instead of screw coordinates. In screw coordinates, twist and wrench are described by components of instantaneous screw axis. For instantaneous motion of wheel assembly, the principle of virtual work with twist and wrench is applied to 5-SS multi-link suspension, and it makes 5 linear equations. Therefore, it is possible to find instantaneous screw axis by solving these equations. This analysis by line geometry demands geometric values only, such as the locations of spherical joints in the case of multi-link suspensions.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.33-35
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• 2004

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligent robot. Linux operating systems are ported to an embedded system which Include a Xscale processor to implement a web based monitoring system. A device driver is developed to receive data from multi-axis force sensors of intelligent robots. To control this device driver, a socket program for Labview is also developed.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.8
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• pp.361-366
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• 2001

This thesis proposes a fuzzy logic cross coupled controller for a multi axis servo system. The overall control system consists of three elements: the axial position controller, the speed controller, and a fuzzy logic cross coupled controller. In conventional multi axis servo system, the motion of each axis is controlled independently without regard to the motion of other axes, in which the contour error, defined as the shortest distance between the desired and actual contours is compensated only by the position error of each axis. This decoupled control approach may result in degraded contouring performance due to such factors as mismatch of axial dynamics and axial loop gains. In practice, such systems contain many uncertainties, Therefore, the multi axis servo system must receive and evaluate the motion of all axes for a better contouring accuracy. Cross coupled controller utilizes all axis position error information simultaneously to produce accurate contours. However the existing cross coupled controllers cannot overcome friction, backlash and parameter variation. Also, since it is difficult to obtain an accurate mathematical model of multi axis system, here we investigate a fuzzy logic cross coupled controller method. Some simulations and experimental results are presented to illustrate the performance of the proposed controller.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1675-1678
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• 2004

In this paper, web based monitoring systems are implemented for multi-axis force control systems of an intelligence robot. A brief review about the principle of multi-axis force sensors and a method that can reduce the effect of noise signal to sensor performance is presented. A web based monitoring system is implemented by porting Linux at embedded systems which include Xscale processors. A device driver is developed to receive data from multi-axis force sensors in Linux operation systems. To control this device driver, a socket program for web browser is also developed. The experiments are performed to investigate the effectiveness of proposed methods. The experimental results show that the values of force sensors can be monitored by remote PCs.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.2
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• pp.143-151
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• 2001

In the recent day, fatigue life prediction techniques play a major role in the design of components in the ground vehicle industry. Full scale durability testing in the laboratory is an essential of any fatigue life evaluation of components or structure of the automotive vehicle. Component testing is particularly important in todey's highly competitive industries where the design to reduce weight and production costs must be balanced with the necessity to avoid expensive service failure. Generally, Multi-axis durability testing device is used to carry out the fatigue test. In this paper, The operation software for simultaneously driving Multi-axis vibration testing device is developed and the input and output data are displayed in windows of PC controller with real time. Moteover the characteristics of the displacement and the load of Multi-axis actuators are calibrated separately.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.91-98
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• 2007

This paper describes the development of the calibration system for a multi-axis force/moment sensor and its uncertainty evaluation. This calibration system can generate the continuous forces (${\pm}Fx,\;{\pm}Fy$ and ${\pm}Fz$) and moments (${\pm}Mx,\;{\pm}My$ and ${\pm}Mz$). Many kinds of multi-axis force/moment sensors in industries should be carried out the characteristic test or the calibration with the calibration system that can generate the forces and the moments. The calibration systems have been already developed are the disadvantages of the low capacity, the generation of step forces(10N, 20N ...) and step moments(1Nm, 2Nm ...) with weights, the high coasts in manufacture and so on. In this paper, the calibration system for a multi-axis force/moment sensor that can generate the continuous three forces and three moments was developed. Their ranges are $0{\sim}2000N$ in all force-directions and $0{\sim}400Nm$ in all moment-directions. And the system was evaluated in the expanded relative uncertainty. They were ${\pm}0.0004$ in all forces ${\pm}Fx,\;{\pm}Fy$ and ${\pm}Fz$, and ${\pm}0.0004$ in all moments ${\pm}Mx,\;{\pm}My$ and ${\pm}Mz$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.999-1002
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• 2002

Cylindrical Cam Mechanism is widely used in the fields of industries, such as machine tool exchangers, textile machinery. This paper proposes a method for manufacturing of cylindrical cam in Multi CNC machining center. Multi CNC machining center has two different types depending on the tilting axis. For the manufacturing procedures. in this paper the location and the orientation of cutter path are defined from shape design data of cam. The integral NC code fur the both types of multi-axis CNC machining center can be created using the coordinates mapping between design coordinates and work coordinates. Finally, CAD/CAM program is developed on $C^{＋＋}$ language. This program can display manufacturing and kinematics simulation, which can make integral NC code for multi-axis CNC machining center of two types.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.5 s.170
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• pp.197-204
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• 2005

In this study, ground reaction force(GRF), absolute symmetry index(ASI) and coefficient of variation(CV) of fixed, single-axis and multi-axis prosthetic ankle assemblies were investigated to show the biomechanical evaluation for above knee amputees. In the experiments, 37 normal male volunteers, two male and two female AK amputees were tested with fixed, single-axis and multi-axis prosthetic ankle assembly. A gait analysis was carried out to derive the ratio of GRF to weight as the percentage of total stance phase for ten points. The results showed that fixed-axis ankle was superior to the other two ankle assemblies for the characteristic of forwarding and breaking forces. Multi-axis ankle was relatively superior to the other two ankle assemblies for gait balancing and movement of the center for mass. single-axis ankle was relatively superior to the other two ankle assemblies for CV and ASI of GRF.