• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.8
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• pp.570-578
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• 1988

In order for a robot to carry out a precise assembly task with compliant motion, a force/torque sensor is needed. The output of the cross-bar structured force / torque sensor which is used in a peg-in-hole insertion task and attached to a SCARA type robot, is analzed. First, the relationship between the sensor outputs and the force / torque components obtained by the outputs is investigated. Second, in a peg-in-hole insertion task, the sensor outputs changing with the contact position of the peg and the hole, are analyzed. Also, the relative position of the peg and the hole is obtained from the sensor outputs. The peg-in-hole insertion task is successfully executed, using a SCARA type robot with a wrist force / torque sensor manufactured in our laboratory and the compliance algorithm from the results of this paper.

• Journal of the Korean Society for Precision Engineering
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• v.2 no.3
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• pp.28-40
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• 1985

In this study, to check up on the effect of the components of cutting resistance upon friction between drill and inside wall of hole in drilling, the experiment was performed with individual specimen of carbon steel, cast iron, aluminium alloy under various cutting conditions: depth of hole, cutting speed, feed rate, shape and material of specimen. On the basis of the experimental results, the following conclusions are drawn; 1. The components of cutting resis- tance were increased in proportion to the increase of depth of hole owing to frictional resistance of drill margin and chip-jamming. 2. As feed rates increase, torque and thrust were increased. When comparing to the increasing rate for these components respecitively, thrust is higher tendency than torque. 3. As drill diameter increase, torque and thrust were increased. When comparing to the increasing rate for these components respectively, torque is higher tendency than thrust. 4. In the case of torque, the frictional resistance between drill margin and inside wall of drilled hole accounts for about 20 percent of carbon steel, 14 of cast iron, 10 aluminium alloy in drilling. But the effect of thrust force could be negligible. 5. Comparison between the theoretical and experimental results showed a close agreement so far as depth of hole is about three times of drill diameter. But there was a wide difference between them beyond the rane of three times, because of characteristics of the drilling process.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.2
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• pp.1-8
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• 2004

Applications of the deep hole drilling process can be found in many industries ranging from large aerospace manufacturer to small tool and die shop. Deep hole drilling process with small diameter generally requires high quality and accuracy. But problems which may arise or result from the deep hole drilling process include drill breakage, the generation of a finished part surface which does not satisfy required quality, and process instability. To guaranty the required machining quality and accuracy, it is important to understand and improve the deep hole drilling process. In this study, deep hole drilling experiments using tingle edge drill with small diameter under 2mm have been carried out for difficult to cut materials such as C42CrMo4 and C45pb and the experimental results were analyzed. Feed force and torque versus feed showed linear relationship in both materials. The feed force and torque are decreased as cutting speed is increased but the trends are not uniform in C42CrMo4.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.3
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• pp.605-614
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• 1995

In the automatic transmission using planetary gear there exists nonlinearities due to the finite difference between gear ratios, which yield torque hole during shift and influence on the ride quality and life of clutch. Based on the reaction carrier and converter turbine speed sliding functions are defined. Nonlinear closed-loop control laws are derived using them. Computer simulation shows that the closed loop design is better than the open loop design and semi-closed loop design.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.12
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• pp.2315-2327
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• 1992

A robot assembly method which uses configuration and force/torque information of tactile sensor system and performs chamferless peg-in-hole tasks is suggested and experimentally studied. When the robot gripes the peg with random orientation, the realignment of the peg to the hole center line is successfully performed with the gripping configuration information of the tactile sensor and the inverse kinematics of the robot. The force/torque information of the tactile sensor makes it possible to control the contacting force between mating parts during hole search stage. The suggested algorithm employs a hybrid position/force control and the experiments show that the algorithm accomplishes well peg-in-hole tasks with permissible small contacting force. The chamferless peg-in-hole tasks with smaller clearance than the robot repeatibility can be excuted without any loss or deformation of mating parts. This study the possibility of precise and chamferless parts mating by robot and tactile sensor system.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.287-292
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• 1993

We use three sensors such as a vision sensor, a proximity sensor, and a force/torque sensor fused by fuzzy logic in a peg-in-hole task. The vision and proximity sensors are usually used for gross motion control and the information is used here to position the peg around the hole. The force/torque sensor is used for fine motion control and the information is used to insert the peg into the hole precisely. Throughout the task, the information of all the three sensors is fused by a fuzzy logic controller. Some simulation results are also presented for verification.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.780-785
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• 1992

We present a multi-sensor fusion method in positioning control of a robot by using fuzzy logic. In general, the vision sensor is used in the gross motion control and the force/torque sensor is used in the fine motion control. We construct a fuzzy logic controller to combine the vision sensor data and the force/torque sensor data. Also, we apply the fuzzy logic controller to the peg-in-hole process. Simulation results uphold the theoretical results.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.410-413
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• 1993

Chamferless peg-in-hole process of the cylindrical type parts using force/torque sensor and vision sensor is analyzed and simulated in this paper. Peg-in-hole process is classified to the normal mode (only position error) and tilted mode(position and orientation error). The tilted mode is sub-classified to the small and the big tilted mode according to the relative orientation error. Since the big tilted node happened very rare, most papers dealt with only the normal or the small tilted mode. But the most errors of the peg-in-hole process happened in the big tilted mode. This problem is analyzed and simulated in this paper using the force/torque sensor and vision senor. In the normal mode, fuzzy logic is introduced to combine the data of the force/torque sensor and vision sensor. Also the whole processing algorithms and simulations are presented.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1121-1126
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• 2003

Strength evaluation was carried out for the fillet and oil hole of crankshaft of medium speed diesel HiMSEN engine to verify initial concept design. Alternating torque obtained from torsional vibration analysis and radial force due to firing pressure were applied. It was assumed that the maximum alternating torque and radial force occur simultaneously. Weak points in view of fatigue are proceeding fillet and crank pin fillet area and the minimum normalized fatigue safety factor is 1.17 at crank pin fillet. The fatigue strength of the oil hole was evaluated to verify the effect of the surface roughness of the oil hole. As results, the specific level of the inner surface roughness and the polishing depth of the oil hole for sufficient fatigue strength was suggested. The maximum stress value and stress distribution at the inner surface of the oil hole can be easily estimated at initial design stage by the newly developed method.

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.244-248
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• 1987

The force/torque sensor for robot is developed. The compliance algorithm for peg-in-hole insertion task using the forec/troque sensor is developed. The system consists of an IBM PC, robot, force/torque sensor, strain meter, A/D board, and interface board. The IBM PC functions as a main processor and the robot controller as a slave processor. The sensor is constructed to measure $T_x$, $T_y$, $F_z$ which are necessary to precisely execute a peg-in-hole insertion task by SCARA type assembly robot. The outputs of sensor are analyzed. On the basis of the analysis, compliance algorithm for peg-in-hole insertion task is developed. Some comments concerning the development of wrist force/torque sensor and compliance algorithm are given.