• 한국공작기계학회논문집
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• 제10권4호
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• pp.40-47
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• 2001

In this pater, the QLQG/LTR control method is applied for the position control of the nonlinear timing belt driving sys-tem. Parameters fo the plant are identified by genetic algorithm and nonlinear elements, such as Coulomb friction and dead-zone, and quasi-linearized by RIDE method. Comparing with the LQG/LTR contro. the QLQG/LTR has similar structures of the LQG/LTR, but this method can consider nonlinear effects in designing the controller. Thus, the QLQG/LTR control system is robust to hard nonlinearities such as Coulomb friction, dead-zone, etc. Forma given hard non-linear system through experiments, it is shown that the tracking performance of the QLQG/LTR control system can be very improved that the LQF/LTR control system.

• International Journal of Precision Engineering and Manufacturing
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• 제1권2호
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• pp.24-34
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• 2000

In this paper we propose a controller design method, called Quasi-LQG/$H_{\infty}$/LTR for nonlinear servo systems with hard nonlinearities such as Coulomb friction, dead-zone. Introducing the RIDF method to model Coulomb friction and dead-zone, the statistically linearized system is built. Then, we consider $H_{\infty}$ performance constraint for the optimization of statistically linearized systems, by replacing a covariance Lyapunov equation into a modified Riccati equation of which solution leads to an upper bound of the LQG performance. As a result, the nonlinear correction term is included in coupled Riccati equation, which is generally very difficult to thave a numerical solution. To solve this problem, we use the modified loop shaping technique and show some analytic proofs on LTR condition. Finally, the Quasi-LQG/$H_{\infty}$/LTR controller for a nonlinear system is synthesized by inverse random input describing function techniques (ITIDF). It is shown that the proposed design method has a better performance robustness to the hard nonlinearity than LQG/$H_{\infty}$/LTR method via simulations and experiments for the timing-belt driving servo system that contains the Coulomb friction and dead-zone.

• 한국가스학회지
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• 제19권1호
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• pp.6-11
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• 2015

이 논문은 자동차 타이밍벨트, 등속조인트 부트, 웨더 스트립에 적용되는 고무시스템의 손상이나 내구성 약화에 대한 사례 연구를 하는 것이 목적이다. 첫 번째 사례에서는 신품의 타이밍 벨트를 교환할 때 벨트의 내구성이 떨어진 벨트를 교환하여 타이밍 벨트와 스프로킷의 마찰작용에 의해 비정상적으로 타이밍 벨트 캔버스가 마멸된 것을 확인하였다. 두 번째 사례에서는 등속 조인트에 그리스의 밀봉역할을 하는 고무 부트의 내구성이 떨어져 경화되고 갈라져 이 틈으로 그리스가 누설된 것을 확인하였다. 세 번째 사례에서는 웨더 스트립이 화학적 변화에 따른 균열로 재료 변형이 생겨 웨더 스트립 고무가 찢어졌다. 이러한 현상은 문을 닫을 때 웨더 스트립 고무를 겹쳐지게 해 운행중 외부공기가 유입되어 미세한 소음이 발생되는 것을 확인했다.따라서, 자동차에 적용되는 고무재질의 부품들의 내구성 약화나 손상으로 인한 자동차의 고장사례가 발생하지 않도록 관리하여야 한다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.756-760
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• 1997

In this research, the automatic level measurement system used in land leveling was developed. By using a laser transmitter and a receiver as measuring equipments, level was measured automatically. The driving part of this system was composed of stepping motor, timing belt and pulley. It drived the laser receiver to track laser beam generated form the laser transmitter. The level measuring experiments were performed about three level change shapes (step, random, sine). This system could measure step level change of which amplitude was 40mm in 0.5s, random level change within .+-. mm, maximum measurement error. In case of sine level change, experiment was executed with varying the spatial frequency of level change. As a result, this system was able to measure sine level change of which spatial frequency was 0.5m $^{-1}$ accurately.

• 로봇학회논문지
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• 제5권2호
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• pp.102-109
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• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.