• Journal of the Korean Society for Precision Engineering
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• v.20 no.7
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• pp.105-113
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• 2003

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously, for stably grasping an unknown object. In order to safely grasp an unknown object using the robot's gripper, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured forces. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy, Fz, and moments Mx, My, Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of made sensor was performed. and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor may be used for robot's gripper.

• Journal of the Society of Naval Architects of Korea
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• v.39 no.2
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• pp.34-44
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• 2002

Approximately 70 percent of shop's hull plate consists of three-dimensional curved shell. Concerning with the research on the automation of plate forming many studies have been carried out for the last decade. The purpose of this study is to develop the simulator of heating on the basis of the reasonable mechanical model representing a heating phenomenon. The beating experiment has been carried out with varying parameters influencing on the results of heating information at the kinematics analysis, simulatorestimate the shape of deformed plate that process along the processing information. When we get the initial shape and the object shape, we calculate the processing information first, using kinematics analysis. In a simulator we estimate deformed shape from the processing information. After this we compare deformed shape and object shape. If the error of deformed shape and object shape is in the proper limits, that information is determined the final processing information. Else we repeat the process changing variable.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.11a
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• pp.484-487
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• 2006

In this paper, linear ultrasonic actuators are designed using two dimensional motions of a PMW-PT piezoelectric plate. By equalizing the natural frequencies of longitudinal and transverse vibration modes in the cantilever structure, the ultrasonic motion of the combined vibration modes are generated. We have designed two different PMN-PT actuators: one uses a tip attached on the edge of the actuator and it drives the object in the perpendicular direction of the tip. In other model, the actuator plate moves itself through stationary guides. Prototypes of the two models are manufactured and experiments results are compared to the theoretical and numerical results. The effects of structural characteristics and the friction force existing between the actuator tip and the moving object are considered. Experiments show the possibility of small size ultrasonic linear motors which can be applicable to small form factor information storage and phone camera actuators.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.3 s.192
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• pp.47-54
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• 2007

This paper describes the development of the intelligent gripper with two 3-axis force sensor that can measure forces Fx, Fy, Fz simultaneously, for stably grasping an unknown object. In order to grasp an unknown object using an intelligent gripper softly, it should measure the force in the gripping direction and the force in the gravity direction, and perform the force control using the measured farces. Thus, the intelligent gripper should be composed of 3-axis force sensor that can measure forces Fx, Fy, Fz at the same time. In this paper, the intelligent gripper with two 3-axis force sensor was manufactured and its characteristic test was carried out. The fabricated gripper could grasp an unknown object stably. Also, the sensing element of 3-axis force sensor was modeled and designed with five parallel-plate beams, and 3-axis force sensor for the intelligent gripper was fabricated. The characteristic test of the made sensor was carried out.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.907-910
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• 2005

This paper has the object of investigating natural frequencies of tapered thick plate, tapered ratio, thick plate's opening size by means of finite element method and providing kinetic design data for mat of building structures. Free vibration analysis that tapered thick plate in this paper. Finite element analysis of rectangular plate is done by use of rectangular finite element with 8-nodes. In order to analysis plate which is varioued of plate thickness. the thickness is varied with 5, 10, 15, 20 and the tapered ratio is applied as 0.0, 0.25, 0.5, 0.75, 1.0 respectively. This paper is analyzed varying thickness by taper ratio.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.818-823
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• 2002

Addition of point supports results in increasing the fundamental frequency of a structure, generally. In this paper, searching more effective location of point supports is a major object to maximize a fundamental frequency of various cantilever plates. Results are presented by aspect ratio of the plate, by design domain within which point supports generate, and by mass location equipped on the plate. Optimization method is applied due to expand the ESO(Evolutionary Structural Optimization) method.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2002.10a
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• pp.404-411
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• 2002

The PSC 2-span-continuous-bridge by Up-Down Method on construction process is used for this research. It is measured the strain of lower-steel-plate at continuous section on the active range of negative moment at the stage of introducing compressive stress to bottom-plate and compared with results of structural analysis. On the basis of these results, it is confirmed the introduced compressive stress tか bottom-plate. The object of this research is presenting the degree of continuity at the stage of lifting up process.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.4 s.97
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• pp.388-394
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• 2005

This paper has the object of investigating natural frequencies of tapered thick plate on Pasternak foundation by means of finite element method and providing kinetic design data for mat of building structures. Vibration analysis for tapered thick plate subjected to in-plane stress is presented in this paper. Finite element analysis of rectangular plate is done by use of rectangular finite element with 8-nodes. Analysis conditions of tapered thick plate are as follows each. The ratio of in-plane stress to critical load is varied with $0.2\sigma_{cr}$, $0.4\sigma_{cr}$, $0.6\sigma_{cr}$. The Winkler parameter is 0, 10, 100, 1000, the shear foundation parameter is 0, 10 and the taper ratio is 0.0, 0.2, 0.4, 0.6, 0.8.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.808-813
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• 2003

This paper is analysis of opening thick plate on foundation. This paper has the object of investigating natural frequencies of opening thick plates on pasternak foundation by means of finite element method and providing Kinematic design data for mat of building structures. In this paper, vibration analysis of rectangular opening thick plate is done by use of Serendipity finite element with 8 nodes by considering shearing strain of plate. It is shown that natural frequencies depend on not only Winkler foundation Parameter but also shear foundation parameter, opening position, opening size.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.521-525
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• 2004

This paper has the object of investigating natural frequencies of tapered thick plate on pasternak foundation by means of finite element method and providing kinetic design data for mat of building structures. vibration analysis that tapered thick plate subjected to In-plane stress is presented in this paper Finite element analysis of rectangular plate is done by use of rectangular finite element with 8-nodes. In order to analysis tapered plate which is supported on pasternak foundation. The ratio of In-plane stress to critical load is varied with $0.2\sigma_{cr},\;0.4\sigma_{cr},\;0.6\sigma_{cr}$, and the Winkler parameter is 0, 10, 100, 1000 the shear foundation parameter 0, 10. The taper ratio is applied as 0.0, 0.2, 0.4, 0.6, 0.8 respectively. This paper is analyzed varying thickness by taper ratio with In-plane stress.