• 한국자동차공학회논문집
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• 제6권1호
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• pp.151-162
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• 1998

During a straight driving and cornering maneuver by a vehicle various forces and moments are exerted on the tire's footprint. A cornering properties, handling and stability performances of vehicle can be predicted by these forces and moments values. Therefore, on this study, a lateral force and a aligning torque are predicted by these forces and moments values. Therefore, on this study, a lateral force and a aligning torque are predicted using a finite element method. Contact area of the tire between bead and wheel are fixed to simplify of a finite element model. Lateral force is exerted on the rigid surface as a real load with Coulum friction after inflate and load vertically. Then, rotate the tire's axle to simulate a free rolling untill taken the equilibrium of a aligning torque. Also, experimental observations are made to test a reliability of a FE analysis conducted in this study. The finite element analysis said that good agreement was obtained with experimental results of these cornering properties, giving confidence within about one percent. So it os recommended that a finite element analysis can be used as a good tool to predicted the tire cornering properties.

• 한국위성정보통신학회논문지
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• 제7권3호
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• pp.94-98
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• 2012

정확한 토크 체결력을 제공하기 위하여 토크 측정기는 최소자승이 적용된 커브피팅 알고리즘을 사용한다. 본 논문에서 제안하는 보정 최소자승 커브피팅 알고리즘은 토크 정밀 측정을 사용하는 다양한 산업분야에서 볼트와 너트에 향상된 체결력을 제공할 수 있다. 먼저, 제안한 알고리즘에 대한 수학적 모델을 소개하고, 제안한 알고리즘을 시뮬레이션하여 기존 알고리즘과 그 결과를 비교하였다. 보정된 최소자승 알고리즘은 기존의 토크 측정에 사용되었던 알고리즘보다 낮은 표준 오차 값을 보임으로써 제안한 보정된 최소자승 알고리즘의 성능의 정확성을 증명한다. 따라서, 본 알고리즘을 토크 계측에 적용함으로써 정밀 산업기계 및 전자부품 그리고 기타 항공기, 우주선등 나사의 조임 체결력이 적용되는 산업분야에 적용함으로써 비용 및 안전성 향상에 기여될 것을 예상한다.

• 한국정밀공학회지
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• 제29권2호
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• pp.170-177
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• 2012

A force/torque sensor using carbon fiber plate was designed and developed to make the sensor be able to measure a wide range of multi degree of force and torque. Using carbon fiber plate of 0.3 mm thickness, the sensor was designed and developed, which has a ${\mu}N$ level order of resolution and about 0.01 N ~ 390 N of wide measurement range. The elastic deformation part has a tripod plate structure and strain gauges are attached on the part to detect the force/torque. The coefficient of determination for the sensor is over 0.955 by the calibration experiment so that the linearity of the sensor is confirmed to be good. Also, experiments on applying 0.005 ~ 40 kg (0.05 ~ 390 N) to each axis were implemented and the sensor is proved to be safe under a high load. Finally, to verify the function calculating the direction of load vector, the directions of various load vectors which have the same magnitude but different directions and the directions of the calculated load vectors are compared and analyzed to accord well.

• Journal of Electrical Engineering and Technology
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• 제11권2호
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• pp.377-382
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• 2016

In this paper, influence of vibration on cogging torque and Radial Magnetic Force(RMF) imbalance was investigated in the IPM type BLDC motor. Design of cogging torque reduction and the RMF equilibrium was proceed applied to Design of Experiment(DOE). Vibration test results, the RMF imbalance was confirmed that a significant impact of vibration.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.517-522
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• 1991

In this paper, robot's grasping poses are classified into three cases, and force/torque information in each grasping pose is analyzed. In the grasping process, error between the desired and the actual grasping poses can be generated because of uncertainty in the environment. A systematic algorithm is presented, that uses the force/torque information generated by grasping pose error to estimate robot's actual grasping pose.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.780-785
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• 1992

We present a multi-sensor fusion method in positioning control of a robot by using fuzzy logic. In general, the vision sensor is used in the gross motion control and the force/torque sensor is used in the fine motion control. We construct a fuzzy logic controller to combine the vision sensor data and the force/torque sensor data. Also, we apply the fuzzy logic controller to the peg-in-hole process. Simulation results uphold the theoretical results.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.31-39
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• 2016

This paper describes the design of an ankle rehabilitation robot for the force measurement of a severe stroke patient staying in a bed ward. The developed ankle rehabilitation robot was attached to a three-axis force/torque sensor that could detect force Fx, Fz, and torque Tz and measure the ankle rotation force (Fx) exerted on the ankle and the signal force Fz and torque Tz to be used as a safety device. The robot was designed and manufactured for bedridden stroke patients, and the robot program was manufactured to perform the flexibility rehabilitation exercise for ankle bending and to measure the ankle force to judge the degree of rehabilitation. According to the result of the characteristics test of the developed rehabilitation robot, it was safely operated while the ankle-bending flexibility rehabilitation exercise and the emergency situation were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

• 한국정밀공학회지
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• 제18권10호
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• pp.84-92
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• 2001

Commercial eddy current dynamometers control the torque of rotating body, power supply machine, with the field coil current being operated as a braking force. In this paper, we studied the relation between field coil current and torque load of eddy current dynamometer. By the torque measuring analysis of eddy current dynamometer it is linear relation between the brake force measured from a torque meter which is installed at the case of dynamometer and the multiplied shaft rpm by the squares of field coil current (N$\times$I$^2$). To prove the relation, it was experimented and showed that the torque operated by the rotating body can be measured with the shaft rpm and the field coil current of the eddy current dynamometer. This result shows a possibility that eddy current dynamometer can measure the torque of rotating body without a torque measuring device. such as load cell.

• 오토저널
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• 제12권3호
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• pp.9-20
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• 1990

The speed ratio-torque load-axial force characteristics of a rubber V-belt (RVB) and a metal V-belt (MVB) CVT are investigated and their performances are compared. It is found that power is transmitted by tension difference in RVB, and by thrust difference in MVB. The nondimensional equations for speed ratio-torque load-axial force of RVB are exactly same as those of MVB. However, actual characteristics of axial forces of RVB and MVB are different depending on their power transmission methods. The torque capacity of MVB is 5-6 times higher than that of RVB due to MVB's higher strength, even if the required axial force of MVB CVT control is 3-4 times higher than that of RVB.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2004년도 전력전자학술대회 논문집(2)
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• pp.891-894
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• 2004

This paper estimate coefficient of adhesion through speed sensor-less vector control and load torque disturbance observer used for maximum tractive force control. And also proposes anti-slip control algorithm, which controls torque force of motor in order to keep the estimated adhesion force in maximum adhesion by controlling PI torque with the differential value of estimated adhesion force coefficient.