• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.2
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• pp.10-17
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• 2001

Drilling is one of the most important operations performed in the machining industry. And the material of the workpiece has a profound effect on the tool life, the surface finish produced and the overall economy of the process. Hot-rolled high strength steels have been used for automobile structural material, owing to high hardness and machinability of the material. However, in the drilling of hot-rolled high strength steels, the current knowledge of tool wear and machinability are insuf-ficient. There, it is desirable to monitor drill wear status and hole quality changes during the hole drilling process. Accordingly, this paper deals with the cutting characteristics of the hot-rolled high strength steels using common HSS drill. The performance variables include the drilling thrust, torque and drill wear data obtained from drilling experiments con-ducted on the workpiece. Also drill were is measured by acoustic emission system and computer vision system.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.5 no.4
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• pp.98-107
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• 1996

In order to predict analytically torque, thrust force, tool life and chip formation in drilling, cutting models for chisel edge with various tool-chip contact length were developed in this type. Also, the experimental tests are run with various pilot holes. The following conclusions were obtained from the analysis. \circled1 It's also found experimentally that thrust force(Fz) decreases as pilot hole diameter increases. \circled2 Surface roughness for material(G) is larger that for material(J). The difference over two materials in roughness value about 0.5$mu extrm{m}$. \circled3 Flank wear of the drill in cutting material of G less than any other kinds of materials(F, G, H, I, J). \circled4 In drilling a deep hole on a workpiece over SM45C either twist drill. The chip was conical helix type at the fist suspensely change the two segment type and than two a long pitch helix style.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1209-1217
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• 1997

This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.

• Journal of the Korean Society for Precision Engineering
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• v.3 no.2
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• pp.91-101
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• 1986

This paper deals with the effect of static and dynamic cuttig force and the behaviour of drill life in drilling process. The experiments are performed with cemented carbide drills and high speed steel drills of 10mm in diameter and in an annealed SM45C. The conclusions are as follows (1) Dynamic cutting force is varied with the dept of hole. (2) Dynamic cutting forces of torque and thrust are increase with the increase in feed and cutting speed. (3) Chipping influence the dynamic cutting force of thrust than torque, and in the case of thrust, the amplitude is 3-7 times large than ordinary cutting state. (4) Prediction of drill life can be obtained from more easily the amplitude of static cutting force than that of dynamic cutting force.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.538-542
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• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.

• Journal of Korean Dental Science
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• v.10 no.2
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• pp.66-73
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• 2017

Purpose: To evaluate the effect of different-sized drill tips and laser irradiation times on the initial stability of orthodontic miniscrews placed in Er,Cr:YSGG-laser pre-drilled holes in an animal model. Materials and Methods: Laser pre-drilled holes were made in dog mandibular bone with an Er,Cr:YSGG laser using irradiation times of 5, 7, 9, 11, and 13 seconds, and tip diameters of 0.4 and 0.6 mm. The maximum diameter and depth of the pre-drilled holes was measured with micro computed tomography. The maximum insertion torque was measured during placement the miniscrew. Result: Laser pre-drilled holes were conical shaped. The maximum diameter of pre-drilled holes increased with longer laser irradiation times (P>0.05) and larger tip diameters (P<0.05). The depth of pre-drilled holes increased with longer laser irradiation times and larger tip diameters (P<0.05). When the 0.4 mm tip, but not the 0.6 mm tip, was used, the insertion torque decreased significantly with longer laser irradiation times (P<0.05). Conclusion: Tip diameter impacted insertion torque more than irradiation time. It takes at least 9 seconds using a 0.6 mm tip to create a 0.8 mm diameter and 1.0 mm depth hole in thick cortical bone.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.4_2
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• pp.623-628
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• 2023

The purpose of this study was to evaluate the fracture strength and removal torque value (RTV) of a conventional angled abutment and a newly developed angled abutment (Beauty up abutment) with an angulated screw access hole. Each abutment was divided into a control group and an experimental group (n = 20, respectively). To measure the fracture strength, the abutment was connected to the internal hex implant with 30 Ncm torque, and a load was applied at 30 degree angle with cross-head speed of 1 mm/min using a universal testing machine according to the ISO 14801:2016 standard. To measure RTV, each abutment was fastened to the implant with 30 Ncm torque. Retightening was performed after 10 minutes, and initial RTV was measured with a digital torque gauge. After retightening, a load of 250 N was applied to the abutment at a 30 degree angle using a chewing simulator. After a total of 100,000 repeated loads, RTV was measured. Statistical analysis was performed using Wilcoxon signed rank test and Mann-Whitney U test (α = .05). The fracture strength of the experimental group was statistically significantly lower than that of the control group (P = .009). There was no significant difference between initial RTV and post-loading RTV between the experimental group and the control group (P = .753, P = .527, respectively), and cyclic loading did not significantly affect RTV in both groups (P = .078).

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.244-249
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• 1989

For the robot manipulator in performing precision tasks, it is indispensable that the robot utilize the various sensors for intelligence. In this paper, the hybrid position/force control method is implemented with a force/torque sensor, two personal computers, and a PUMA 560 manipulator. Two application S/W packages for edge following and peg-in-hole tasks are developed by the proposed force control algorithm. The related experimental results are then presented and discussed,

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.427-431
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• 1996

A modeling of the dynamics of two cooperating robot manipulators doing assembly job such as peg-in-hole while coordinating the payload along the desired path is proposed. The system is uncertain due to the unknown mass and moment of inertia of the manipulators and the payload. To control the system, a robust control algorithm is proposed. The control algorithm includes fuzzylogic. By the fuzzy logic, the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation with keeping path tracking errors bounded.

• Journal of the Korea institute for structural maintenance and inspection
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• v.15 no.2
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• pp.136-143
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• 2011

The oversized and slotted holes are frequently required for the built-up in construction sites. The foreign provisions specify the reduction of the slip load subjected to the size of bolt holes and the direction of load. There are no domestic building codes and researches on the bolt holes. Therefore, it is necessary to evaluate a change of joint strength quantitatively according to the bolt-hole size and surface condition by means of experiment. This study was conducted to evaluate the slip load subjected to the size of bolt holes, and measured on a change of clamping force of high strength bolts during 168 and 800 hours to analyze the trend of relaxation after fastening bolts. Torque shear bolts defined on KS B 2819 was used for the specimen. Test results exhibit that the variation on the slip load of the others was below 10% by contrast with the standard hole and the highest rate of relaxation was 2.66% of the initial clamping force at the case of the long-slotted hole of 2.5D.