• 한국소음진동공학회논문집
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• 제22권3호
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• pp.284-290
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• 2012

In this research, a new type of haptic master device using electrorheological(ER) fluid for minimally invasive surgery(MIS) is devised and control performance of the proposed haptic master is evaluated. The proposed haptic master consists of ER bi-directional clutch/brake for 2 DOF rotational motion(X, Y) using gimbal structure and ER brake on the gripper for 1 DOF rotational motion (Z). Using Bingham characteristic of ER fluid and geometrical constraints, principal design variables of the haptic master are determined. Then, the generation of torque of the proposed master is experimentally evaluated as a function of applied field of voltage. A sliding mode controller which is robust to uncertainties is then designed and empirically realized. It has been demonstrated via experiment that the proposed haptic master associated with the controller can be effectively applied to MIS in real field conditions.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1994-1999
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• 2003

This paper discusses dynamic characteristics of motion of a pair of multi-degrees of freedom robot fingers executing grasp of a rigid object and controlling its orientation with the aid of rolling contacts. In particular, the discussions are focused on a problem of gain-tuning of sensory feedback signals proposed from the viewpoint of sensorymotor coordination, which consist of a feedforward term, a feedback term for controlling rotational moment of the object, and another term for controlling its rotational angle. It is found through computer simulations of the overall fingersobject dynamics subject to rolling contact constraints that some dynamic characteristics of torque-angular velocity relation may play an important role likely as reported by experimental results in muscle physiology and therefore selection of damping gains in angular velocity feedback depending on the guess of object mass is crucial. Finally, a guidance of gain-tuning in each feedback term is suggested and its validity is discussed by various computer simulations.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.661-666
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• 2004

The purpose of this study is to measure the rotational vibration, radial vibration, and axial vibration for the helical gear with the wide face width relative to the whole depth. For this purpose, the experimental apparatus is designed and manufactured. The gear vibration of each direction is measured by the accelerometers attached at the gear body. As a result, meshing frequency and second harmonic component are greatly contributed to the gear vibration. As the rotational speed is increased, meshing frequency component has the more significant peak than the second harmonic one. However, the doubled torque decreases the vibration magnitude on the contrary and changes order of the vibration magnitude in each direction.

• 한국공작기계학회논문집
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• 제11권2호
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• pp.103-111
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• 2002

Out of all metal-cutting process, the hole-making process is the most widely used. It is estimated to be more than 30% of the total metal-cutting process. It is therefore desirable to monitor and detect drill wear during the hole-drilling process. One important aspect in controlling the drilling process is monitoring drill wear status. There are two systems, Basic system and Online system, to detect the drill wear. Basic system comprised of spindle rotational speed, feed rates, thrust torque and flank wear measured by tool microscope. Outline system comprised of spindle rotational speed feed rates, AE signal, flank wear area measured by computer vision, On-line monitoring system does not need to stop the process to inspect drill wear. Backpropagation neural networks (BPNs) were used for on-line detection of drill wear. The output was the drill wear state which was either usable or failure. This paper deals with an on-line drill wear monitoring system to fit the detection of the abnormal tool state.

• 한국자동차공학회논문집
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• 제12권3호
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• pp.27-36
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• 2004

A Numerical analysis has been used to predict the performance in the automotive water pump with double discharge single suction. The influence of parameters such as coolant flow rate, rotational speed, ratio of blade height and clearance has been investigated. Also, the prediction of hydraulic performances such as static pressure rise, shaft power, hydraulic power and pump efficiency is carried out on the water pump including an impeller and a volute casing. A full size water pump test bench has been developed to validate the CFD flow model. Discharge flow rate, suction pressure, discharge pressure, rotational speed and torque measurements are provided. Coolant temperature is 8$0^{\circ}C$, water tank pressure is 1 kgf/$\textrm{cm}^2$ and flow rates vary.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.821-826
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• 2001

Out of all metal-cutting processes, the hole-making process is the most widely used. It is estimated to be more than 30% of the total metal-cutting process. It is therefore desirable to monitor and detect drill wear during the hole-drilling process. One important aspect in controlling the drilling process is monitoring drill wear status. Accordingly, this paper deals with Basic system and Online system. Basic system comprised of spindle rotational speed, feed rates, thrust, torque and flank wear measured tool microscope. Online system comprised of spindle rotational speed, feed rates, AE signal, flank wear area measured computer vision. On-line monitoring system does not need to stop the process to inspect drill wear. Backpropagation neural networks (BPNs) were used for on-line detection of drill wear. This paper deals with an on-line drill wear monitoring system to fit the detection of the abnormal tool state.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.519-523
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• 2016

This paper proposes a method of estimating the actuator faults of a hexacopter without using encoders when one or more of six actuators do not operate normally. In the case of the hexacopter, a Pseudo-Inverse matrix is generally used to obtain the rotational speed of the actuators because the matrix that transforms the rotational speed of the actuators into the thrust and torque of the body coordinate system is not a square matrix. However, the method based on the Pseudo-Inverse matrix cannot detect the actuator faults correctly because the Pseudo-Inverse matrix is approximate. In the proposed method, the actuator faults are estimated by modifying the transform matrix using the property that the actuators of the hexacopter are symmetrical. The simulation results show the effectiveness of the proposed method when faults occur in one or more of the six actuators.

• Tribology and Lubricants
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• 제30권2호
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• pp.71-76
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• 2014

As the importance of transmission efficiency to reducing fuel consumption and conserving the environment rapidly increases, reducing the drag torque in an automotive wet clutch is emerging as an important issue in the automotive industry. The drag torque in a clutch occurs from viscous drag generated by automatic transmission fluid in the narrow gap between separate friction plates. In this study, the drag torques in an automotive wet clutch are investigated with respect to the angle and density of the grooves between separate friction plates by three-dimensional finite element simulation of a single set of wet clutch disks considering the two-phase flow of air and oil. The simulation results shows that the drag torque generally increases with the rotational speed to a critical point and then decreases at the high-speed regime. The grooves between the plates plays an important role in reducing the drag peak, and the inclined angle of the grooves affects the oil flow. The grooves with an angle of $50^{\circ}$ shows the lowest drag torques at both low and high speeds. The flow vectors inside the $50^{\circ}$ grooves shows clear evidence that the fluid flows out more easily from the grooves compared with the flow vectors inside grooves with lower angles. The simulation results shows that increasing the number of grooves (density of grooves) decreases the drag torque.

• 대한기계학회논문집
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• 제14권5호
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• pp.1320-1329
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• 1990

본 연구에서는 토크로드의 여러가지 성능시험이 하능한 시험기의 설계와 개발 에 관하여 논하려 한다. 토크 로드의 정적 성능은, 반경방향 스프링 특성시험 및 비 틀림 방향 스프링 특성시험 그리고 회전토크 특성시험 등을 통하여 평가된다. 그러 나, 이들 세가지 성능시험을 위한 시험기를 각각 개발할 경우 소요비용이 과다해진다. 따라서, 한정된 예산과 시험기 개발후 시험평가 공정의 간소화 등을 고려하여, 본 시 험기는 3대의 시험기로써 하여야 할 기능을 한대의 시험기로써 할수 있도록 개발하였 다. 시험기 개발에 따른 기술적인 고찰과, 본 시험기로 정하중에서의 토크 로드 부 품의 성능시험을 수행하고 서어보 유압식 구조물 피로 시험기를 사용하여 동 부품의 피로 내구성 시험을 실시하고, 고무의 조성변화, 접착성 개선 등을 통해 내구성을 향 상시킴으로 국산화 개발을 가능케 한 기술적 내용들을 살펴 보고자 한다.

• 한국산업융합학회 논문집
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• 제19권4호
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• pp.206-215
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• 2016

Delta parallel robots are now widely used for high-speed applications. However, typical Delta robots, such as ABB Flexpicker suffer from rotating axis with passive prismatic joint subjected to critical speed and so requiring careful maintenance. In this paper, a novel 4-DOF high-speed parallel robot with four legs is presented, which consists of three legs with 90 degree arrangement for translational motions and one remaining leg with rack & pinion gears for rotational motion. The inverse kinematics, velocity, acceleration, statics, and inverse dynamics have been analyzed. From the workspace analysis and inverse dynamics simulation for 0.43 sec cycle time, the 4-axis parallel robot prototype with 12kg payload has been designed. In the future research, computed torque control methods will be developed for the prototype.