• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.4
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• pp.103-109
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• 2008

Semi-spherical CVT(SS-CVT) is one of friction drives, which transmits power via the friction force between a spherical shaped variator and output disks. The variator varies the speed ratio of SS-CVT continuously as well as transmits input power into the output shaft. Therefore two friction forces are normally applied on the variator; one is the longitudinal friction force for power transmission and the other is the lateral for shifting. In order to investigate the dynamic behavior of SS-CVT, we introduced a numerical model of 2-dimensional friction force using a function of slip ratio and slip angle. And a dynamic model, which describes the shifting mechanism of SS-CVT, is developed through 3-dimensional vector analysis. Finally we presented numerical results of the shift characteristics focused on the transient behavior of the variator's slip ratio and slip angle. The numerical results also show the typical CVT shifting characteristics of SS-CVT and stable shifting behaviors of the variator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.1 s.173
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• pp.225-231
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• 2000

Dimensional synthesis of planar and spatial mechanisms mostly requires solution-finding, procedure for a system of polynomial equations. In case the system is nonlinear, numerical techniques like Newton-Raphson are often used. But there are no logical ways for finding all possible solutions in such iterative methods. In this paper, algebraic elimination is used to get all solutions for the synthesis of 5-SS spatial mechanism with seven prescribed positions. The proposed algorithm is more suitable for computer implementation and takes less time than existing one. Two numerical examples are given to demonstrate the implemented algorithm.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.9
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• pp.1614-1618
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• 2007

We have demonstrated the experimental results to obtain the immunity of FN (Fowler Nordheim) stress for S-RCAT (Spherical-Recess Cell Array Transistor) which has been employed to meet the requirements of data retention time and propagation delay time for sub-100-nm mobile DRAM (Dynamic Random Access Memory). Despite of the same S-RCAT structure, the immunity of FN stress of S-RCAT depends on the process condition of gate oxidation. The S-RCAT using DPN (decoupled plasma nitridation) process showed the different degradation of device properties after FN stress. This paper gives the mechanism of FN-stress degradation of S-RCAT and introduces the improved process to suppress the FN-stress degradation of mobile DRAM.

• Structural Engineering and Mechanics
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• v.16 no.1
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• pp.101-114
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• 2003

A base isolation system is proposed for earthquake protection of structures. The system incorporates spherical supports for the base, a specially designed spring-cam system to keep the base rigidly supported under normal condition and to allow it to move for the duration of the earthquake under the constraint of a spring with optimized non-linear characteristics. A single-story model is constructed to investigate the feasibility of the concept. Numerical simulations of the system as well as experimental results show that 95% reduction of the transmitted force to the structure can be achieved. To demonstrate the effectiveness of this isolation mechanism, the maximum dynamic bending stress developed at predetermined critical points within the frame of the structure is measured. Significant reduction of the dynamic stresses is obtained.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.213-216
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• 2005

This paper presents force feedback control performance of a 3DOF haptic device that can be used for minimally invasive surgery (MIS). As a first step, a 3DOF electrorheological (ER) joint is designed using a spherical mechanism. And it is optimized based on the mathematical torque modeling. Subsequently, the master haptic device is manufactured by the spherical joint. In order to achieve desired force trajectories, model based compensation strategy is adopted for the ER master. Therefore, Preisach model fur the PMA-based ER fluid is identified using experimental first order descending (FOD) curves. A compensation strategy is then formulated through the model inversion to achieve desired force at the ER master. Tracking control performances for sinusoidal force trajectory are presented, and their tracking errors are evaluated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.9
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• pp.982-989
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• 2009

Parallel Kinematic Mechanism (PKM) is a device to perform the various motion in three-dimensional space and it calls for six degree of freedom. For example, Parallel Kinematic Mechanism is applied to machine tools, medical equipments, MEMS, virtual reality devices and flight motion simulators. Recently, many companies have tried to develop new Parallel Kinematic Mechanism in order to improve the cycle time and the precisional tolerance. Parallel Kinematic Mechanism uses general universal joint and spherical joint, but such joints have accumulated tolerance problems. Therefore, it causes position control problem and dramatically life time reduction. This paper focused on the rolling element to improve sliding precision in new sliding ball joint development. Before the final design and production, it was confirmed that new sliding ball joint held a higher load and a good geometrical structure. FEM analysis showed a favorable agreement with tensile and compressive testing results by universal testing machine. In conclusions, a new sliding ball joint has been developed to solve a problem of accumulated tolerance and verified using tensile and compressive testing as well as FEM analysis.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.361-366
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• 2015

In this paper, we propose a novel surveillance throwing robot which is compact, light-weight and has an efficient shock absorption mechanism. The throwing robot is designed in a spherical shape to be easily grabbed by a hand for throwing. Also, a motor-wheel linking mechanism is designed to be robustly protected from shocks upon landing. The proposed robot has a weight of 2.2kg and the diameter of its wheels is 150 mm. Through the field experiments, the designed robot is validated to withstand higher than 13Ns of impulse.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.2
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• pp.3-7
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• 2008

A polishing machine adopting a new unique structural mechanism has been developed, named as a swing-arm type polishing machine. The mechanism is such that the tool path tracks on a spherical surface, of which the diameter is adjusted by setting up the machine mechanism properly. It has a strong benefit especially for polishing axis-symmetric concave mirror surfaces. The swing-arm type polishing machine with 5-axes has been designed in order to polish a concave mirror surface lip to diameter of 2 meters. The drawings are made using 3D CAD and strain-stress analysis has been done by finite element method. AC servo-motor has been used to move the swing arm and a operating software has been developed using a LapVIEW tool. Result of the test run was satisfactory which convinces the usefulness of the swing-arm type polishing machine.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.2
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• pp.160-167
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• 2001

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

• Proceedings of the Materials Research Society of Korea Conference
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• 2011.10a
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• pp.31.2-31.2
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• 2011

We studied a method of manufacturing an anode to restrict contraction in reducing NiO/YSZ by uniformly mixing. In order to mix Ni and YSZ, a sub-micron Ni core surface was coated at high-speed by a mixture of nano-sized YSZ and a spherical core-shell was subsequently formed. The micron-sized core-shell anode powder was then heat treated at $400{\sim}1,450^{\circ}C$ in an air atmosphere and Ni was extruded and synthesized in nano-size. Subsequently, when the nano-sized mixture of the anode was heat treated and maintained at a temperature of $1,450^{\circ}C$, the anode was manufactured, where Ni and YSZ were uniformly distributed with the nano-structure. According to the nano-sized anode powder synthesis process, Ni particles were oxidized at $400{\sim}500^{\circ}C$ and became spherical by surface tension. In the case of the spherical core Ni powder, the heat treatment temperature rose to $1,250^{\circ}C$ and then a gap between the internal and external pressures occurred due to thermal and tensile stresses. A crack subsequently appeared on the surface, and the heat treatment temperature was increased continuously to increase the pressure gap and then the core Ni extruded as a nano-sized powder, Ni and YSZ uniformly distributed. It was found that the anode of 50~200 nm with a consistent structure obtained in this study has electric conductivity that is approximately 3 times larger than that of a commercial anode.