• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.2 no.1
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• pp.37-48
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• 1990

The drag and heat transfer reduction phenomena and degradation effects of drag reducing polymer solutions which are known as the viscoelastic fluids are investigated experimentally for the turbulent circular tube flows. Two stainless steel tubes are used for the experimental flow loops. Aqueous solutions of Polyacrylamide Separan AP-273 with concentrations from 300 to 1000 wppm are used as working fluids. Flow loops are set up to measure the friction factors and heat transfer coefficients of test tubes in the once-through system and the recirculating flow system. Test tubes are heated by power supply directly to apply constant heat flux boundary conditions on the wall. Capillary tube viscometer and falling ball viscometer are used to measure the viscous characteristics of fluids and the characteristic relaxation time of a fluid is determined by the Powell-Eyring model. The order of magnidude of the thermal entrance length of a drag reducing polymer solution is close to the order of magnitude of the laminar entrance length of Newtonian fluids. Dimensionless heat transfer coefficients of the viscoelastic non-Newtonian fluids may be represented as a function of flow behavior index n and newly defined viscoelastic Graetz number. As degradation continues viscosity and the characteristic relaxation time of the testing fluids decrease and heat transfer coefficients increase. The characteristic relaxation time is used to define the Weissenberg number and variations of friction factors and heat transfer coefficients due to degradation are presented in terms of the Weissenberg number.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.6
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• pp.996-1002
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• 2013

This study addresses the development of a full duplex robotic system for transferring flat-panel display glass. We propose to accomplish this using a bidirectional linear transfer mechanism in place of the conventional rotary transfer mechanism. The developed full duplex robot comprises a driving part that carries the glass panel laterally, vertical part that can be moved up and down by means of a ball screw and linear motion guide arrangement, and hand part that slides by the cylinder of the driving part along the guide rail with a V-guide bearing attached to the bottom of the support. In addition, an alignment part prevents the hand part from derailing and holds the hand part while the driving part moves horizontally. The full duplex robot lifts and drives a glass panel directly while transferring it to the buffer and does not require rotational motion. Therefore, both transferring and stacking are realized with a single device. This device can be used in existing industrial facilities as an alternative to existing industrial robots in current as well as future process lines. The proposed full duplex robot is expected to save considerable amounts of time and space, and increase product throughput.

• Journal of Aerospace System Engineering
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• v.12 no.5
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• pp.32-39
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• 2018

In this paper, the calculation of the theoretical pressure transfer ratio due to the deformation of the thin-plate spring type check valve applied to the small piezoelectric-hydraulic pump was carried out. A thin-plate check valve is a flexible body that is deformed by an external force. The deformation of the check valve affects the rate at which the chamber pressure is transferred to the load pressure. The theoretical pressure transfer ratio for each model was calculated to compare the difference between the assumption that the thin-plate check valve is a rigid body and that of the flexible body model. The P-delta effect was considered for the calculation of the pressure transfer ratio of the flexible check valve model. In addition, a verification test for the calculated pressure transfer ratio obtained by considering the deformation of the flexible check valve model was carried out. The load pressure was measured by applying a thin-plate and ball-thin plate spring type check valves, respectively. The experimental pressure transfer ratio was calculated using the respective load pressure obtained from the experiments. The validity of the pressure transfer analysis of the check valve, taking into consideration the P-delta effect, was verified by comparing it with the theoretically calculated pressure transfer ratio.

• Journal of Advanced Marine Engineering and Technology
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• v.7 no.1
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• pp.49-63
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• 1983

Coupled transverse shaft vibrations have become the target of great concern in high powered ships such as container ships. Due to increasing ship's dimensions and high propulsive power, resonance frequencies of the propeller shaft system tend to decrease and can appear in some cases within the operating speed range of engine. In this connection, the coupled free transverse vibrations of shaft system in two planes are theoretically investigated. This shaft system carries a number of discs and is flexibly supported by a number of bearing stiffness are considered for the calculation. Transfer matrix method is applied to calculate the shaft responses in both planes. A digital computer program is developed to calculate the shaft responses of the coupled transverse vibrations in two planes. An experimental model shaft system is made. It is composed of a disc, shafts, ball bearings thrust bearings and flexible bearing supports. The shaft system is excited by an electrical magnet, and shaft vibration responses in two planes are measured with the strain gage system. From these measurements, the natural frequencies of the shaft system in both planes are found out. The developed program is also used to calculate the shaft vibration responses of experimental model shaft system. From the results of these calculations, the natural frequencies of shaft system in two planes are derived. Theoretical predictions of model shaft natural frequencies show good agreements with its esperimental measurements.

• Transactions of the Korean Society of Mechanical Engineers
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• v.13 no.5
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• pp.1032-1043
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• 1989

The heat transfer characteristics of the drag reducing polymer solutions are investigated experimentally in the thermal entrance region of circular tube flows. Fluids used in experiments are the aqueous solutions of high molecular polymer, polyacrylamide Separan AP-273 and the range of polymer concentrations is from 20 to 1000 wppm. Two stainless steel tubes with inside diameter 8.5mm(L/D=712) and 10.3mm(L/D=1160) are used for the heat transfer flow loops. The flow loop is set up to measure friction factors and heat transfer coefficients of test sections in two different modes; the recirculating flow system and once-through flow system. The test tubes are heated directly by electricity to apply the constant heat flux boundary conditions to the wall. Three different types of adaptors are used to observe the effects of the upstream flow conditions of the heat transfer test sections. The viscosity and characteristic relaxation time of the test fluids circulating in the flow system are measured by the capillary tube viscometer and falling ball viscometer at regular time intervals. The installed adaptors exhibit slight effect on the entrance heat transfer of Newtonian fluid. However, no noticeable effects are observed for the entrance heat transfer of the drag reducing fluids. The order of magnitude of the thermal entrance lengths of the drag reducing fluids which follow the minimum friction asymptote is much longer than that of Newtonian fluids in turbulent flows. A new dimensionless parameter, the viscoelastic Graetz number, is defined and all the experimental data are recasted in terms of the viscoelastic Graetz number. The local Nusselt number of the viscoelastic fluids is represented as a function of flow behavior index n and the viscoelastic Graetz number. As degradation continues the viscosity and the characteristic relaxation time of the testing fluids decrease. Weissenberg number defined by the relaxation time and D/V appears to be a proper dimensionless parameter in describing degradation effects on heat transfer of the viscoelastic fluids.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.4
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• pp.38-44
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• 1999

This paper primarily directed toward analyzing the frequency response in hydraulic pipe lines with a small diameter. The exact solution to the frequency response is obtained by using the complicated transfer function. The discrepancy with the exact and the approximate is small so the approximation solution is adopted to compare the experimental results with the theoretical analysis. In this experiment the input frequency was generated by the frequency generator with the ball valve and speed controller. In order to compare the theoretical were forms with the experimental ones the trace obtained from the oscilloscope is photographed, The diameter the length of lines and input pressure amplitude are varied to investigate their effects,. the experiment results show that th values of dimensionless parameter are very affected to the phase delay and guide response time in the design of pressure manifold to measure the pressure of hydraulic pipelines.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.147-148
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• 2002

This study made use of four kinds of mating balls that were made with stainless steel but subjected to different annealing conditions in order to achieve different levels of hardness. In all load conditions, testing results demonstrated that the harder the mating materials, the lower the friction coefficient was. Conversely, the high friction coefficient found in soft martensite balls appeared to be caused by the larger contact area between the DLC film and the ball. Raman Spectra analysis showed that the transferred materials were a kind of graphite and that the contact surface of the DLC film seemed to undergo a phase transition from carbon to graphite during the high friction process.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.3
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• pp.266-272
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• 2014

This study proposes a closed-loop shaping control method with $H_{\infty}$ optimization for optical image stabilization (OIS) in mobile phone cameras. The image stabilizer is composed of a horizontal stage constrained by ball bearings and actuated by the magnetic force from voice coil motors. The displacement of the stage is measured by Hall effect sensors. From the OIS frequency response experiment, the transfer function models of the stage and Hall effect sensor were identified. The weight functions were determined considering the tracking performance, noise attenuation, and stability with considerable margins. The $H_{\infty}$ optimal controller was executed using closed-loop shaping and limiting the controller order, which should be less than 6 for real-time implementation. The control algorithm was verified experimentally and proved to operate as designed.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.3
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• pp.380-387
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• 2013

In this study, two finite element (FE) models were developed to evaluate the thermal characteristics of a feeding axis of a CNC lathe. One was used for analysis of heat transfer to identify the temperature distribution of the feeding axis and then, the other was used for analysis of thermal deformation to evaluate its structural behavior based on the temperature distribution. The FE models were based on the test standard for the axial thermal displacement. The feeding velocity was composed of three steps: the ascending, constant, and descending velocities. Therefore, the heat generation and convection coefficient were calculated for each velocity and applied to the thermal FE model. The convection coefficient for the ball screw rotation was based on an experimental equation. The result of the analytical thermal displacement was compared with that of the experimental displacement to verify the finite element models.