• 로봇학회논문지
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• 제9권1호
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• pp.11-19
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• 2014

In this paper, an external torque estimation problem in one-degree-of-freedom (1-DOF) flexible-joint robot equipped with a joint-torque sensor is revisited. Since a sensor torque from the joint-torque sensor is distorted by two dynamics having a spring connection, i.e., motor dynamics and link dynamics of a flexible-joint robot, a model-based estimation, rather than a simple linear spring model, should be required to extract external torques accurately. In this paper, an external torque estimation algorithm for a 1-DOF flexible-joint robot is proposed. This algorithm estimates both an actuating motor torque from the motor dynamics and an external link torque from the link dynamics simultaneously by utilizing the flexible-joint robot model and the Kalman filter estimation based on random-walk model. The basic structure of the proposed algorithm is explained, and the performance is investigated through a custom-designed experimental testbed for a vertical situation under gravity.

• 한국정밀공학회지
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• 제33권5호
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• pp.401-407
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• 2016

This paper describes the derivation methodology of the working torque predictive model that can be used in the initial design stages of the impact hammer tool. The working torque control mechanism is designed, taking into account various factors, such as the force of the spring and friction. Firstly, the analysis dynamic model for working environments was modeled as an additional bush and spring, and verified by comparing the test results of the working torque. Secondly, the main performance parameters of the working torque were theoretically defined by analyzing the operating mechanism. The equation to predict the working torque was derived using the dynamic analysis results according to the value changes of the parameters. The prediction equation of the working torque was validated by comparing the predicted results with the experimental data. The error difference between the experimental data and the predictive model results was found to be 8.62%.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.305-310
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• 2007

This paper presents a damper system design in torque converter to minimize the vibration in powertrain of automatic transmission vehicle. The lock-up clutch in torque converter makes engine and transmission connected directly. When the lock-up clutch is engaged the torque fluctuation of engine is attenuated by the damper system. This function decides the vehicle power-train dynamic characteristics. At first, the dynamic hysteresis effect with any self and surface to surface contact problems of the damper springs in the damper system for torque converter is analyzed by using FEM. It is shown that these simulation results have a good design reference to energy dissipation operating by damper system in torque converter. And, to calculate dynamic characteristics, the vehicle model is structured by using $AMESim^{(R)}$?? that is a common use program. The vehicle model shows the frequency response of vehicle by changing the stiffness of damper spring, and these results lead the most suitable stiffness of spring. Also, new damper system is analyzed resonance frequency variation and is compared with prior damper.

• Journal of Periodontal and Implant Science
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• 제43권5호
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• pp.221-226
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• 2013

Purpose: This study aimed to assess the combined effect of dismantling before sterilization and aging on the accuracy (${\pm}10%$ of the target torque) of spring-style mechanical torque devices (S-S MTDs). Methods: Twenty new S-SMTDs from two different manufacturers (Nobel Biocare and Straumann: 10 of each type) were selected and divided into two groups, namely, case (group A) and control (group B). For sterilization, 100 cycles of autoclaving were performed in 100 sequences. In each sequence, 10 repetitions of peak torque values were registered for aging. To measure and assess the output of each device, a Tohnichi torque gauge was used (P<0.05). Results: Before steam sterilization, all of the tested devices stayed within 10% of their target values. After 100 cycles of steam sterilization and aging with or without dismantling of the devices, the Nobel Biocare devices stayed within 10% of their target torque. In the Straumann devices, despite the significant difference between the peak torque and target torque values, the absolute error values stayed within 10% of their target torque. Conclusion: Within the limitations of this study, there was no significant difference between the mean and absolute value of error between Nobel Biocare and Straumann S-S MTDs.

• 한국정밀공학회지
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• 제17권6호
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• pp.103-110
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• 2000

In this study, the angular twist type torque-meter was designed and manufactured with STS 304 and fiber-reinforced composite materials to improve the dynamic properties of the existing torque-meter. From the Experimental and analytical results, it was found that the dynamic characteristics of co-cured bonded torque-meter rotating shaft were better than those of the adhesively and unreinforced torque-meter rotating shaft. For the torque-meter rotating shaft manufactured by co-cured bonded with the glass fiber-epoxy composite and with a stacking sequence of $[$\pm$30$^{\circ}$/STS304]_{2s}$, the natural frequency and the radial spring constant were increased by 64% and 137% compared to those of the unreinforced torque-meter rotating shaft.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
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• pp.66-72
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• 2000

Commercial eddy current dynamometers control the torque of ratating body (poer supply machine) with the field coil current being operated as a braking force. In this paper, we studied about the relation between the field coil current and the torque load of eddy current dynamometer. By the torque measuring analysis of eddy current dynamometer, it is linear relation between the brake force measured from the torque meter (e.g. load cell, strain gage or spring balance etc.) which is installed at the case of dynamometer and the multiply of shaft rpm by the square of field coil current (N$\times$Ia2). To prove the relation, it was experimented and showed that the torque operated by the rotating body can be measured with the shaft rpm and the field coil current of eddy current dynamometer. This result shows a possibility that eddy current dynamometer can measures the torque of rotating body without special torque measuring devices.

• 한국자동차공학회논문집
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• 제9권4호
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• pp.131-138
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• 2001

In this paper, performance of a dry CVT vehicle with torque cam is investigated. Based on belt transmission mechanism and torque cam actuator characteristics, an algorithm which is able to calculate the speed ratio from given thrust and load torque is suggested and a 3-D map is constructed for the speed ratio-thrust-torque. Using the 3-D map, a steady state characteristic of torque cam and a transient response of a dry CVT vehicle are investigated by simulation. It is found that initial spring compression plays a key role in determining the sliding criteria and the speed ratio velocity.

• 한국정밀공학회지
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• 제25권9호
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• pp.86-94
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• 2008

A total stroke of an opening or closing motion of a hinge mechanism in a folder-type mobile phone is composed of two portions. In the first portion, human fingers act a force to open or close the folder. In this portion, the rotating folder compresses the coil spring installed in the mechanism. In the last portion, this compressed coil spring generates a torque to rotate the folder. The main merit of this study is that we have designed a hinge mechanism to be operated by a uniform torque in the first portion of the total stroke. The uniform torque means that it is constant along the folder's swing angle. This mechanism will give softer feeling to human fingers. A pair of contours in the mechanism plays an important role. It transforms rotation into translation in the first portion; on the other hand, it transforms translation into rotation in the last portion. In this study, we have developed an algorithm to obtain the pair of contour curves. We divided the total contour curves into finite sub-intervals. Assuming that the curves in every sub-interval are parabolas, we have obtained the coefficients of them by solving systems of nonlinear equations recursively.

• 로봇학회논문지
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• 제12권1호
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• pp.11-18
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• 2017

Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.

• 한국기계가공학회지
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• 제4권4호
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• pp.48-53
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• 2005

This research is materialized the mechanism of a interlocking elevator device to meet with customer's requirement demanding a variety of function. On this suitably theoretical translation and by considering of material significance of the most factor's tension spring and torsion spring, it's compared and reviewed the stress's calculation according that SWC and SWPB applied differently. And also that is approved through actual experiment. Out of a variety of feasible movement. Torque Balance is materialized by combination of tension spring, torsion spring and disk spring. So that application of 3 factors for optimal design is very important factor. In future, this research thesis make sure to play a highly role for application and improvement mechanically in various industry sector out of materializing interlock.