• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.648-651
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• 2004

Biped robot has better mobility than other mobile robot, but it is hard to maintain balance during walking. In order to maintain balance, stability analysis is a key point for a biped robot. The zero moment point analysis has been used most in stability analysis. In this paper, we propose different method of stability analysis using wrench system. It is possible to generate a wrench system by applying a force along an axis in space and simultaneously applying a moment about the same axis. Wrench system is equivalent to a force and moment applied along the same axis. We compare the result of wrench system analysis with that of zero moment analysis in biped robot stability using simulation program.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.298-301
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• 1990

This paper presents technologies to improve the control of an impact wrench. Impact wrench is a tool which is held by the electro-mechanical manipulator and used to fasten and loosen the bolts for remote maintenance of equipment in hostile environment. Vision system was developed to measure the distance and improve the positioning of the impact wrench. The vision system used two laser beams with a CCTV camera. Also, a torque adjusting method was developed to limit the fastening torque.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.04a
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• pp.373-378
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• 2013

Impact wrench has a sophisticated structure to implement various pre-designed mechanisms with specific functions. In the structure of impact wrench, the gear box has an important role to generate impacting force of anvil from actuating torque. Since, it requires to design systematically the gear box for accurate mechanism of operation and transferring motions. In this paper, a methodology of dynamic analysis, which is useful to design mechanical system, is proposed and applied to impact wrench, sequentially. At first, the way to perform dynamic analysis for design, which is progressed from component to assembled system, is introduced. Secondly, the proposed methodology is applied to designing impact wrench. Eventually, the results of parameter study with proposed methodology are applied to actual design for design optimization. And optimized-design is evaluated in the view of accurate operation and structural stability.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.35 no.2
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• pp.88-97
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• 2012

The muscle strengths in various postures are still used in the workplace, although mechanization and automation have been continuously accomplished. The aim of this study is to measure the maximum muscle strength and analyze the muscle fatigue during the various wrench jobs which are one of the upper limbs related works. Four hundreds and eighty five college students (243 males and 242 females) participated in this study. Twelve muscle strengths which are using for pulling, pushing, lifting and lowering the wrench with various postures are measured. For every moment, the muscle strengths for both hands were measured. In each measurement, five seconds averaged value and peak value were collected. The averaged value of preferred hand and non-preferred hand was compared. Also, the averaged value of opposite movement was compared through t-test. The fatigue of agonist for each movement was analyzed using EMG analysis. The result of this study can provide some basic information not only in designing the tools in work but also in selection, training and management of workers.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.832-837
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• 1991

After many years of proliferation, the nuclear industry is indebted for a formidable consequence, the safe management of spent fuel. Naturally, the high radioactivity involved with such process motivates the development of effective telerobotic systems. Nevertheless, the existing master-slave type of tele manipulators are limited in effectiveness by the human operator's limited sensory and manipulation capabilities. This paper presents the result of a research effort to resolve such problems by assigning the slave manipulator a certain degree of intelligence; sensing and actuation. In the presented system, a perception-action loop is achieved using ultrasonic range sensor and laser distance sensor interfaced with the PUMA 760 industrial robot system, and applied to automating impact wrenching task for unbolting the lid of nuclear spent fuel cask. The perception-action loop performs determination of the cask location, collision avoidance and centering of the impact wrench onto the bolt head. To aid the insertion task and to provide versatility a mounting module consisting of an RCC device and an automatic tool changer is designed and implemented. The performance of the developed system is tested on the model cask and the result is given.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.14-19
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• 1998

In this paper, a target approachable force-guided control with adaptive accommodation for the complex assembly is presented. The complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of the manufacturing automation and various robot applications. To make CA successful, both the bounded wrench condition and the target approachability condition should be satisfied simultaneously during insertion. By applying the convex optimization technique, an optimum target approaching twist can be determined at each instantaneous contact state as a global minimum solution. Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning nor contact analysis which requires the geometry of the part and the environment. Finally, a VME-bus based real-time control system is built to experiment various CA task. T-insertion task as a planar CA and double-peg assembly task as a spacial assembly were successfully executed by implementing the new force-guided control with adaptive accommodation.

• The Korean Journal of Ceramics
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• v.2 no.4
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• pp.226-230
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• 1996

A small amount of fine particle graphite was added to $\alpha$-SiC and $\beta$-SiC having certain particle distributions, and they were mixed clay and frit. After forming, they were sintered at 140$0^{\circ}C$ for 3 hours. Tribological properties of sintered $\alpha$-SiC-$\beta$-SiC-graphite-clay (frit) system showed that kinetic friction coefficient was 0.108, specific wear rate was 1.3${\times}10^-8\;mm^2$.$kgf^1$, and torque was 0.01kgf.cm at the wrench torque of 100 kgf.cm.

• Economic and Environmental Geology
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• v.40 no.4
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• pp.473-490
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• 2007

Strata of the Kachi-1 well, Kunsan Basin, offshore western Korea, were analyzed by using integrated stratigraphy approach. As a result, five distinct unconformity-bounded units are recognized in the well: Triassic, Late Jurassic-Early Cretaceous, Early Cretaceous, Late Cretaceous, and Middle Miocene units. Each unit represents a tectono-stratigraphic unit that provides time-sliced information on basin-forming tectonics, sedimentation, and basin-modifying tectonics of the Kunsan Basin. In the late Late Jurassic, development of second- or third-order wrench faults along the Tan-Lu fault system probably initiated a series of small-scale strike-slip extensional basins. Continued sinistral movement of these wrench faults until the Late Cretaceous caused a mega-shear in the basin, forming a large-scale pull-apart basin. However, in the Early Tertiary, the Indian Plate began to collide with the Eurasian Plate, forming a mega-suture zone. This orogenic event, namely the Himalayan Orogeny, continued by late Eocene and was probably responsible for initiation of right-lateral motion of the Tan-Lu fault system. The right-lateral strike-slip movement of the Tan-Lu fault caused the tectonic inversion of the Kunsan Basin. Thus, the late Eocene to Oligocene was the main period of severe tectonic modification of the basin. After the Oligocene, the Kunsan Basin has maintained thermal subsidence up to the present with short periods of marine transgressions extending into the land part of the present basin.

• Journal of the Korea Concrete Institute
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• v.20 no.6
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• pp.681-687
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• 2008

This study presents a technique to quantitatively measure the corrosion level of a reinforcing bar using infrared thermography system. We found out electric heating method having an important effect on thermal data in previous study. This study purposed an efficient way for grip standardization to reduce constriction resistance problem, and providing reliable thermal data using infrared thermographic method. Using vise type earth clamp, the surface resistance of rebar was smaller than that of traditional plier type earth clamp through temperature-distribution relationship. Also this study contains experiments with toque wrench to improve heating contact problem.

• Economic and Environmental Geology
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• v.51 no.3
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• pp.233-248
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• 2018

Strata of the Central sub-basin in the Gunsan Basin, offshore, western Korea were analyzed by using integrated stratigraphy approach. As a result, five distinct unconformity-bounded units are recognized in the basin: Sequence I (Cretaceous or older(?)), Sequence II (Late Cretaceous), Sequence III (late Late Cretaceous or younger(?)), Sequence IV (Early Miocene or older(?)), Sequence V (Middle Miocene). Since the late Late Jurassic, along the Tan-Lu fault system wrench faults were developed and caused a series of small-scale strike-slip extensional basins. The sinistral movement of wrench faults continued until the Late Cretaceous forming a large-scale pull-apart basin. However, in the Early Tertiary, the orogenic event, called the Himalayan Orogeny, caused basin to be modified. From Late Eocene to Early Miocene, tectonic inversion accompanied by NW strike folds occurred in the East China. Therefore, the late Eocene to Oligocene was the main period of severe tectonic modification of the basin and Oligocene formation is hiatus. The rate of tectonic movements in Gunsan Basin slowed considerably. In that case, thermal subsidence up to the present has maintained with marine transgressions, which enable this area to change into the land part of the present basin.