• 로봇학회논문지
• /
• 제13권1호
• /
• pp.55-62
• /
• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.

• 한국정밀공학회지
• /
• 제17권11호
• /
• pp.55-62
• /
• 2000

The poor machinability material such as austenite stainless steel(STS304) is emphasized on the wide use of HSSE for the tapping operation. The difficulty can be entirely to tapping torque due to chip formation through the hole of tap. The object of this study is to investigate tap geometry affecting the tapping torque from a practical point of view. The study shows that the optima tapping torque is affected by the tap geometry and cutting condition for STS304.

• 대한기계학회논문집B
• /
• 제31권8호
• /
• pp.718-723
• /
• 2007

The new concept spark plug was developed to study its influence on the combustion characteristics of SI engine. It has pre-ignition chamber in the lower end of spark plug and flame hole, in which fresh mixture gas can be introduced without any fuel supply system. This spark plug was tested with a commercial SI engine. Fuel consumption rate, emission gas and MBT timing were measured in the engine dynamometer for various flame hole numbers, hole positions, hole sizes of the pre-ignition chamber of the spark plug. And average flame propagation speed was measured by using the head gasket ionization probe in single cylinder engine. The new concept spark plug induces fast bum in combustion compared with the conventional spark plug, and MBT(Minimum advance for Best Torque) timing was retarded about $3{\sim}5^{\circ}$ crank angle. The flame hole number, hole direction and volume of pre-ignition chamber were found to influence the combustion characteristics.

• 대한치과교정학회지
• /
• 제25권2호
• /
• pp.143-152
• /
• 1995

이 연구는 다양한 형태의 closing loops의 activation에 따른 치주조직에서의 응력분포를 평가하고 상악 절치의 이동 양상을 예측하기 위하여 3차원 유한요소법에 의하여 시행되었다. 동시에 상악 절치의 견인시 사용되는 bull loop, key-hole loop, T-loop, combination loop 그리고 asymmetrical T-loop도 3차원 유한요소법에 의해 분석 되었다. 이 연구로부터 얻어진 결과는 다음과 같다. 1. 여러가지 형태의 공간폐쇄용 루프중 bull loop에서 가장 큰 수평력을 나타냈으며 , key-hole, combination loop, T-loop 순이었다. 이들 모두 치아이동의 양상은 uncontrolled tipping을 나타냈다. 2. Asymmetrical TMA T-loop에서는 수평력이 현저히 감소하였으며, 절치부위에 함입력이 나타났다. 3. 절치부에서 torque의 증가에 따라 모멘트가 증가하였고, 선형적인 증가를 보였다. 4. 모멘트의 증가에 따라 치아의 초기 이동양상은 uncontrolled tipping에서 치근이동 양상으로 변화되었다.

• 한국생산제조학회지
• /
• 제25권2호
• /
• pp.97-104
• /
• 2016

In this study, the qualitative effects of the positional error of carrier pin holes on the planet load sharing characteristics of the three-point suspension gearbox of wind turbines were investigated experimentally. A 35-kW gearbox comprising two planetary gear stages and a parallel gear stage and size one-fourth of that of a 2-MW three-point suspension gearbox was used as the test gearbox. The strain gauges attached to the ring gear teeth of the input planetary gear stage were used for the purpose of this study. The applied loading conditions were 50%, 75%, and 100% of the rated torque, and the mesh load factor was used as the load sharing index. The experimental results indicated that both the magnitude and direction of the positional error of pin holes had a significant effect on the planet load sharing characteristics of the three-point suspension gearbox. In addition, an increase in the applied torque results in uniform load sharing.

• 한국기계가공학회지
• /
• 제19권8호
• /
• pp.28-34
• /
• 2020

In this study, hole-boss locking washers were developed to prevent vibrational loosening, and a benchmark test was conducted to compare these washers with existing wedge locking washers, which are imported and high-priced. The developed washers consist of an upper washer with bosses and a lower washer with holes, and the bosses are caught in the holes so that the bolt is not loosened. Additionally, the top side of the upper washer and the underside of the lower washer have small wedges perpendicular to the direction of the bolt loosening, suppressing slips. A test by the Korea Test Laboratory indicated that the ratio of the loosening torque to the joining torque is greater than 70%, confirming that the developed washers have a sufficiently high anti-loosening performance. A Junker test apparatus was manufactured for the testing of vibrational loosening and a test comparison between the proposed washers and the existing wedge locking washers shows that the proposed washers have a slower reduction in the clamping force and a higher loosening-resistance in a vibrational circumstance compared with the wedge locking washers. These results indicate that the developed washers demonstrate a high performance and boast price competitiveness.

• Structural Engineering and Mechanics
• /
• 제49권4호
• /
• pp.427-448
• /
• 2014

At present, the time of easy oil and gas is over. Now, the largest part of fossil fuels is concentrated in the deepest levels of tectonic structures and in the sea shelves. One of the most cumbersome operations of their extraction is the bore-hole drilling. In connection with austere tectonic and climate conditions, their drivage every so often is associated with great and diversified technological difficulties causing emergencies on frequent occasions. As a rule, they are linked with drill string accidents. A key role in prediction of these situations should play methods of theoretical modelling. For this reason, there is a growing need for development and implementation of new numerical methods for computer simulation of critical and post-critical behavior of drill strings (DSs). In this paper, the processes of non-linear deforming of a DS in cylindrical cavity of a deep bore-hole are considered. On the basis of the theory of curvilinear flexible rods, non-linear constitutive differential equations are deduced. The effects of the longitudinal non-uniform preloading, action of torque and interaction between the DS and the bore-hole surface are taken into account. Owing to the use of curvilinear coordinates in the constraining cylindrical surface and a specially chosen concomitant reference frame, it became possible to separate the desired variables and to reduce the total order of the equation system. To solve it, the method of continuation the solution by parameter and the transfer matrix technique are applied. As a result of the completed numerical analysis, the critical states of the DS loading in the cylindrical channels of inclined bore-holes are found. It is shown that the modes of the post-critical deforming of the DS are associated with its irregular spiral curving prevailing in the zone of bottom-hole-assembly. The possibility of invariant state generation during post-critical deforming is established, condition of its bifurcation is formulated. It is shown that infinite variety of loads can correspond to one geometrical configuration of the DS. They differ each from other by contact force functions.

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

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 추계학술대회 논문집
• /
• pp.79.1-84
• /
• 1995

The thermal analysis method containing micro drilling characteristic is proposed for the first time. There are such problems in thermal analysis of micro hole drilling as the thermal modeling complexity of drilling process and the undesirable micro drilling characteristic. Especially, the undesirable micro drilling characteristic prevents our using conventional thermal modeling. To model the thermal behavior of the micro drilling process, the finite different method, where heat source vectors are distributed by the measured rhrust and torque, is proposed. This method agrees with thermal behavior of the real system. And, it enable to predict the temperature field near the drill during. The validity of this method is verified in comparing with experimental results.

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