• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.2-119
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• 2002

In this paper a passive compliant joint (PCJ) for human-friendly service robots is presented. The PCJ is composed of a magneto-rheological damper and a spring for elasticity. In the magneto-rheological damper, a braking force proportional to the electric current is generated. It works as a viscous damper by controlling the electric current according to the angular velocity of spring displacement. The compliance property and position control of the PCJ are verified through experiments and simulations to a single DOF simple arm with the PCJ.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.3
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• pp.66-73
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• 2004

This paper presents wafer motion modeling of transfer unit in clean tube system, which was developed as a means for transferring the air-floated wafers inside the closed tube filled with the super clean airs. When the wafer is transferred in x direction with an initial velocity the motion along x direction can be modeled as a simple decaying motion due to viscous friction of the fluid. But, the motion in y direction is modeled as a mass-spring-damper system where the recovering force by air jets issued from the perforated is modeled as a linear spring. Experiments with a clean tube system built fur 12 wafer show the validity of the presented force and motion models.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.998-999
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• 2014

This paper proposes a method for damping force modeling of magnetorheological (MR) damper featuring bypass hole. After describing configuration and of the MR damper, a damping force modeling of the MR damper is derived based on Bingham model of MR fluid. MR damper consists of piston, accumulator, gap, bypass hole and coil. Damping force is consists of spring force induced by accumulator, viscous force induced at gap and bypass hole, and controllable force induced at gap.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2010.10a
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• pp.465-466
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• 2010

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.684-685
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• 2012

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.04a
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• pp.469-470
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• 2011

• Proceedings of the Korean Nuclear Society Conference
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• 2005.05a
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• pp.729-730
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• 2005

• Journal of Mechanical Science and Technology
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• v.19 no.10
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• pp.1835-1845
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• 2005

In this paper a safe arm with passive compliant joints and visco-elastic covering is designed for human-friendly service robots. The passive compliant joint (PCJ) is composed of a magneto-rheological (MR) damper and a rotary spring. In addition to a spring component, a damper is introduced for damping effect and works as a rotary viscous damper by controlling the electric current according to the angular velocity of spring displacement. When a manipulator interacts with human or environment, the joints and cover passively operate and attenuate the applied collision force. The force attenuation property is verified through collision experiments showing that the proposed passive arm is safe in view of some evaluation measures.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.20 no.12
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• pp.1168-1175
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• 2010

Excessive torsional vibrations from marine engine shafting systems can be reduced by using torsional vibration dampers. But in order to be tuned effectively, the dampers should be designed through the optimum design procedure. In this paper, the procedure to get the optimum values of system parameters of spring-viscous dampers using effective modal mass of inertia and stiffness is suggested and the damping is determined by the exact algebra optimization method. The validity of the suggested method is confirmed through the application to a 1800 kW four cycle diesel engine and generator system.

• Journal of the Earthquake Engineering Society of Korea
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• v.11 no.3 s.55
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• pp.33-42
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• 2007

In this study, for research on an improvement of the seismic safety of an EDG system, a small scale EDG system was manufactured. For the isolation system, the Coil Spring-Viscous Damper systems were selected. For the shaking table test, 3 kinds of seismic motions were selected which had different frequency contents. In this study, the isolation effects were different and they depended on the input seismic motion. In the case of an NRC earthquake which had low fiequency contents, the isolation effects of the horizontal direction were 20%. But for the seismic motions which had high fiequency contents, the isolation effects were $50{\sim}70%$. In the case of the vertical direction, poor isolation effects were observed. It was because the design properties and the real properties of the isolation system were a little different.