• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.410-410
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• 2000

Impedance control is recognised as one of the most proper control scheme to carry out the assembly tasks, since it can control the dynamic relationship between the manipulator and environment directly. However, it is well known that the contact force cannot be controlled directly using the impedance control. Also impedance parameters should be properly defined depending on the task to be performed. We propose a new position based impedance control, which has self-adjusted impedance parameters and can control the contact force explicitly, Impedance parameters, as time-varying parameters, are adjusted automatically based on the measured contact force and the position error during the task. A proposed algorithm was implemented on the peg-in-hole task with the industrial manipulator. We shows the effectiveness of proposed control method experimentally.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1155-1160
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• 1991

Active part mating algorithm using 6-axis force sensor data for the assembly automation and/or teletobotics is presented and experimented. Parts to be mated are cylindrical and have no chamfers. There are basically two modes. One is the normal mode with only a positional error, the other is the tilted mode with an orientational error in addition to a positional error. The used algorithm distinguishes a contact external to the hole from that of internal to the hole in order to perform part-mating in spite of the relative tilt between the hole and the peg.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• Journal of Mechanical Science and Technology
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• v.15 no.4
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• pp.482-491
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• 2001

An experimental study has been carried out to investigate an I-type sparger-performance in view of pressure oscillation and thermal mixing in a pool. Its pitch-to-hole diameter, P/D, varies from 2 to 5. The test conditions are restricted to the condensation oscillation regime. In the present study, two different hole patterns, staggered and parallel types, are employed under various test conditions. The amplitude of the pressure pulse shows a peak for pool temperatures of 45∼85$\^{C}$, which depends on P/D and the steam mass flux. The effect of hole pattern on the pressure load is smaller than that of P/D. The dominant frequency increases with the subcooling temperature of pool water and P/D. A correlation for the dominant frequency is proposed in terms of the pitch-to-hole diameter ratio and other dimensionless thermal hydraulic parameters.

• Nuclear Engineering and Technology
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• v.41 no.3
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• pp.355-364
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• 2009

Circular plates with holes are extensively used in mechanical components. The existence of a hole in a circular plate results in a significant change in the natural frequencies and mode shapes of the structure. Especially if the hole is located eccentrically, the vibration behavior of these structures is expected to deviate significantly from that of a plate with a concentric hole. In addition, if the plate is in contact with or submerged in fluid, the situation is more complex. Therefore, in this study, an analytical method to determine the modal characteristics of a plate submerged in fluid is developed based on the finite Fourier-Bessel series expansion and Rayleigh-Ritz method and is verified by the finite element analysis using a commercial program. Also, the relationship between parameter variations and vibration modes is investigated. These results can be used as guidance for the modal analysis and damage detection of a circular plate with a hole.

• Proceedings of the Korean Institute of Surface Engineering Conference
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• 2008.11a
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• pp.15-16
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• 2008

In case manufacturing COF, through hole should be made to be used for a pathway connecting the conductive layers of its both faces. In case Cu-plating inside of through hole with electroless plating way, contact between Cu and PI film gets bad to be fell apart from PI by the impact of applying to the electric devices. Therefore, after sputtering is applying on inner through hole, then a method to perform electroplating process. In this study, after changing sputtering condition to manufacture FCCL, we looked the changeability of the upper PI and inner hole Cu layers. Making use of RF Magnetron sputtering equipment, we coated Cu thin film and Cu-plated on it through electroplating. After cold-mounting the completed FCCL, we examined hole section through an optical microscope. From the result of test, with parameters deposition pressure and deposition time, both the thickness of the hole plated layer and PI plated upper layer increased at regular rate, increasing the thickness of Cu sputter layer. However, from the result of test in increasing RF-power, we could know the increment rate of hole plated layer is considerably greater than that of PI plated upper layer. Therefore, we finally acquired good result; if you want only to increase the plated layer of inner hole, it's much better to increase RF-power.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1749-1752
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• 2005

High speed machining has become the main issue of metal cutting. Due to increase of the rotational speed of the spindle, problems, such as the run-out errors, reduced stiffness, must be overcome to improve the machining accuracy. In order to solve the problems, it is important to determine the appropriate clamping unit and tooling system. This paper presents an investigation into an evaluation of contact interval which is the interface between spindle taper hole and tool holder shank of the spindle. Finite element analysis is performed by using a commercial code ANSYS according to variation of clamping forces and rotational speeds. This paper proposed fit tolerance in order to evaluate the effects of clamping force and rotational speed on the contact interval in the spindle interface. From the finite element results, it has been shown that the rotational speed rather than clamping force mostly influence on the variation of the contact interval.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.3 s.180
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• pp.147-155
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• 2006

High speed machining has become the main issue of metal rutting. Due to increase of the rotational speed of the spindle, problems, such as the run-out errors, reduced stiffness, must be overcome to improve the machining accuracy. In order to solve the problems, it is important to determine the appropriate clamping unit and tooling system. This paper presents an investigation into an evolution of contact interval which is the interface between spindle taper hole and tool holder shank of the spindle. Finite element analysis is performed by using a commercial code ANSYS according to variation of clamping forces and rotational speeds. This paper proposed fit tolerance in order to evaluate the effects of clamping force and rotational speed on the contact interval in the spindle interface. From the finite element results, it has been shown that the rotational speed rather than clamping force mostly influence on the variation of the contact interval.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.3
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• pp.149-156
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• 2003

The estimation of fatigue limit for the component with complicated shape is difficult than of standard fatigue specimen, due to complex test equipment. So, we substitute maximum principle stress from FEM results for fatigue limit diagram made by standard fatigue specimen. Then we can estimate endurance safety of component with high trust. The static stress analysis, the nonlinear contact stress analysis and the model analysis for turbine blade is performed by ANSYS ver. 5.6. the comparison of maximum static stress around hole with maximum contact stress between pun and hole can make the cause of fracture for turbine blade clear. The difference of fatigue limit between fatigue test by standard specimen and in-service mechanical components is due to surface roughness and machining condition etc. In in-service mechanical components, Goodman diagram has to consider surface roughness for failure analysis. To find fracture mechanism of torison-mounted blade in nuclear plant. This study performs the static stress, the nonlinear contact stress and the modal analysis on torison-mounted blade with finite element method and makes the estimation for safety of turbine blade.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.8
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• pp.570-578
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• 1988

In order for a robot to carry out a precise assembly task with compliant motion, a force/torque sensor is needed. The output of the cross-bar structured force / torque sensor which is used in a peg-in-hole insertion task and attached to a SCARA type robot, is analzed. First, the relationship between the sensor outputs and the force / torque components obtained by the outputs is investigated. Second, in a peg-in-hole insertion task, the sensor outputs changing with the contact position of the peg and the hole, are analyzed. Also, the relative position of the peg and the hole is obtained from the sensor outputs. The peg-in-hole insertion task is successfully executed, using a SCARA type robot with a wrist force / torque sensor manufactured in our laboratory and the compliance algorithm from the results of this paper.