• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.8-11
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• 1996

In impedance control for contact force tracking it is well known that the reference trajectory of the robot is calculated from known environment stiffness. The accuracy of estimating the environment stiffness determines the performance of the resulting force tracking. Here we present a simple technique, called the trajectory modification technique(TMT), of determining the reference trajectory under the condition that the environment stiffness is unknown. Computer simulation studies have shown that force tracking using the proposed technique is excellent for unknown environment with time varying stiffness.

• 로봇학회논문지
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• 제3권1호
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• pp.9-15
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• 2008

Unlike robotic systems, humans excel at a variety of tasks by utilizing their intrinsic impedance, force sensation, and tactile contact clues. By examining human strategy in arm impedance control, we may be able to teach robotic manipulators human''s superior motor skills in contact tasks. This paper develops a novel method for estimating and predicting the human joint impedance using the electromyogram(EMG) signals and limb position measurements. The EMG signal is the summation of MUAPs (motor unit action potentials). Determination of the relationship between the EMG signals and joint stiffness is difficult, due to irregularities and uncertainties of the EMG signals. In this research, an artificial neural network(ANN) model was developed to model the relation between the EMG and joint stiffness. The proposed method estimates and predicts the multi joint stiffness without complex calculation and specialized apparatus. The feasibility of the developed model was confirmed by experiments and simulations.

• 대한기계학회논문집
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• 제17권12호
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• pp.3007-3019
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• 1993

For the same configuration, the stiffness of 6-node two dimensional isoparametric is stiffer than that of 8-node two dimensional isoparametric element. This phenomenon may be called 'Relative Stiffness Stiffening Phenomenon.' In this paper, the relative stiffness stiffening phenomenon was studied, and could be corrected by modifying the position of Gauss integral points used in the numerical integration of the stiffness matrix. For the same deformation (bending) energy of 6-node and 8-node two dimensional isoparametric elements, Gauss integral points of 6-node element have to move closer, in comparison with those of 8-node element, in the case of numerical integration along the thickness direction.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.704-708
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• 2005

In this paper, a simple idea is proposed to change the compliance center of the Remote Center Compliance (RCC) by adjusting the elasticity of the Elastomer Shear Pad (ESP). To vary the elasticity of the ESP, a hole is made in the ESP along its stiffness axis, and a stiffness adjusting rod (SAR) is inserted into the hole. By adjusting the insertion depth of the rod, lateral stiffness of the ESP can be varied, and the compliance center of the VRCC can be controlled accordingly. To verify the effectiveness of the proposed idea, a prototype VRCC is designed and, the position of the compliance center with various lengths of the inserted rod are measured.

• 한국소음진동공학회논문집
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• 제25권12호
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• pp.881-887
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• 2015

The stiffness and natural frequencies for blades, flexbeam, and torque tube of bearingless rotor system are measured to determine the material input properties such as mass distributions and stiffness distribution for the rotor dynamics and load analysis. The flap stiffness, lag stiffness, and torsional stiffness are calculated by measuring section strain or twist angle, gages position, and applied loads through bending and twist tests. The modal tests are undertaken to find out the natural frequencies for flap, lag, torsion modes in non-rotating conditions. The stiffness values and mass properties are tuned and updated to match prediction frequencies to the measured frequencies. The rotorcraft comprehensive code(CAMRAD II) is used to analyze the natural frequencies of the specimens. The analysis results with the updated material properties agree well with the measured frequencies. The updated properties will be used to analyze the rotor stability, dynamic characteristics and loads for the rotor rotation test in a whirl tower.

• 한국구조물진단유지관리공학회 논문집
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• 제21권6호
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• pp.16-24
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• 2017

본 논문은 오프셋 아웃리거의 최적위치를 알기 위하여 우선 아웃리거 구조시스템이 설치된 80층의 초고층건물을 대상으로 MIDAS-Gen을 이용하여 계획설계 수준의 구조설계를 실시하였다. 그리고 본 연구에서는 기둥의 강성, 아웃리거의 평면상 위치, 아웃리거의 설치 높이 등을 주요한 변수로 선택하여 구조해석을 진행하였다. 또한 초고층건물의 오프셋 아웃리거에 대한 최적위치를 찾는 것을 목적으로 초고층건물의 구조설계에서 가장 필수적인 최상층에서 발생하는 수평변위를 분석하였다. 본 연구의 결과, 기둥의 강성, 아웃리거의 평면상 위치, 아웃리거의 설치 높이는 아웃리거 구조시스템의 최적위치에 영향을 주는 것으로 나타났다. 또한 본 연구의 결과는 초고층건물의 오프셋 아웃리거 구조시스템의 최적위치를 알려주는 구조설계 자료로 유용하다고 사료된다.

• Journal of Mechanical Science and Technology
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• 제19권5호
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• pp.1107-1115
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• 2005

In this study, a position and force simultaneous trajectory tracking control algorithm is proposed for a driving apparatus that consists of two pneumatic cylinders connected in series. The controller applied to the driving apparatus is composed of a non-interaction controller to compensate for interaction between cylinders and a disturbance observer aimed to reduce the effect of model discrepancy that cannot be compensated by the non-interaction controller. The effectiveness of the proposed control algorithm is proved by experimental results.

• 대한기계학회논문집A
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• 제37권10호
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• pp.1195-1200
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• 2013

최근에 들어 로봇과 환경 사이의 상호작용이 다양하게 발생하는 작업에서 가변 강성 액추에이터의 연구가 활발하다. 기존의 다양한 가변 강성 액추에이터가 개발되었지만 크기와 중량 때문에 응용분야를 찾기가 어렵다. 따라서 다양한 분야에 쉽게 이용되기 위해 소형의 가변 강성 액추에이터(miniVSA)를 개발하였다. miniVSA는 모멘트 암 기반의 강성제어 장치와 두 개의 모터로 구성된 구동 장치로 구성된다. 강성제어 장치는 두 캠의 상대 운동을 제어하여 위치와 강성을 동시에 제어할 수 있다. 이를 실험을 통하여 강성 변화를 검증하였다.

• 정보저장시스템학회논문집
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• 제9권2호
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• pp.62-66
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• 2013

For the production method, stamp base is increasing the market share. But also, by the manufacturing method, stiffness of the stamp base is small. Many studies have been carried out in order to increase the stiffness of the stamp base. In this study, we optimally designed according to the position of bolting using a screening method in order to increase the stiffness base. After establishing a simulation model, the maximum deformation and frequency of the first mode based having relevance with stiffness of the base, were optimized. There for, it was possible to expect of increasing the stiffness of the stamp base.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2002년도 proceedings of the second asia international conference on tribology
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• pp.115-116
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• 2002

This study was carried out as one of efforts to overcome difficulties in air bearing design due to low stiffness and low damping. Hydrodynamic effects on hydrodynamic stiffness of a fluid film in a high speed air bearing with tow-row air sources are investigated. The hydrodynamic effects by the high speed over DN 1,000,000 and eccentricity of a proceeding which are not considered in conventional design of an air bearing need to be reconsidered. The hydrodynamic effects, which dominantly influence on the load capacity of air bearing, are caused mainly by proceeding speed, eccentricity, and the source positions. The two-row source arrangement in the air bearing produces quite unique hydrodynamic effects with respect to pressure distribution of the air film. Optimal arrangement of the two-row sources improves performance of an air bearing in film reaction force and loading capacity of high speed spindles. This study compares the pressure distribution by numerical simulation as a function of eccentricity of proceeding and the source positions. The air source position 1/7L form one end of an air bearing was found to be superior to source position of 1/4L. The dynamic stiffness were obtained using a two-dimensional cutting method which can directly measure the cutting reaction forces and the displacements of the spindle in two directions using a tool dynamometer and transducer sensors. Heat generation in the air film can not be negligible over the speed of DN 2,000,000. In order to analysis effects of heat generation on the characteristics of air bearing, high cooling bearing spindle and low cooling bearing spindle were tested and compared. Characteristics of the frequency response of shaft and motion of run out errors were different for the spindle. The test results show that, in the case of low cooling bearing spindle, the stiffness became smaller due to heat generation. The results, which were obtained for high speed region, may be used as a design information for spindle which can be applied to precision devices such as ultra precision grinding and ultra high speed milling.