• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.10
• /
• pp.2501-2513
• /
• 1994

In this paper, a compact, light-weight, universal, spherical 3-degree-of-freedom, parallel-structured manual controller with high reflecting-force capability is implemented. First, the position analysis, kinematic modeling and analysis, force reflecting transformation, and applied force control schemes for a parallel structured 3 degree-of-freedom spherical system have been described. Then, a brief description of the system integration, its actual implementation hardware, and its preliminary analysis results are presented. The implemented parallel 3 degree-of-freedom spherical module is equipped with high gear-ratio reducers, and the friction due to the reducers is minimized by employing a force control algorithm, which results in a "power steering" effect for enhanced smoothness and transparency (for compactness and reduced weight).d weight).

• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.4
• /
• pp.148-153
• /
• 2008

Although manual traction, one of pain therapies, was applied in clinic to relief pain, the study was rare on the manual force and displacement of ligaments at knee joint during manual traction. The aim of this study is to quantify not only manual force at knee joint but also elongated displacement of joint ligament by C-arm scanning and motion analysis. Twenty-one healthy subjects were tested with manual traction from grade I to grade III under neutral position by a physical therapist. We calculated traction force using joint farces of both hands and elongated displacement of joint ligament were measured. The results showed that traction forces by C-arm scanning analysis were averagely 1.67-fold greater than those by motion analysis, but elongated displacements were instead averagely 2.36-fold smaller than motion analysis. Finally, we could estimate relationship between traction force and elongated displacement at knee joint by two methods.

• Journal of Drive and Control
• /
• v.19 no.4
• /
• pp.77-84
• /
• 2022

The aims of this study was to estimate transfer force delivered to cone crusher housing and contribution of force transmission. The rock crushing condition caused vibrations in the cone crusher housing, which were experimentally measured, and frequency response functions (FRF) were also found through modal impact tests. Vibration data and frequency response functions were applied to the transfer path analysis (TPA) model. Next, transfer forces delivered to the cone crusher housing were quantified via the TPA method. Contribution of force transfer was also analyzed based on force estimation results. Finally, this study describes basic concepts and components of the TPA method and reviews its applicability to rotating machinery that experiences impact vibrations and forces.

• Proceedings of the KIEE Conference
• /
• 2009.04b
• /
• pp.58-60
• /
• 2009

This paper deals with force characteristic analysis of linear switched reluctance motor using dynamic simulation. First, we calculated flux density of linear switched reluctance motor according to position. Second, analyzed normal force from flux density of linear switched reluctance motor according to position. Also, analysis result compares with data that is derived through a finite element analysis, and proved validity. However, linear switched reluctance motor has non linear characteristic, hence, analysis of propulsion force do not easy using analytical method. Therefore, we presented dynamic characteristic analysis model which is consisted at motor and sensor signal part, etc., and substitute circuit constant that get using magnetic equivalent circuit method, we confirmed propulsion force.

• Proceedings of the KIEE Conference
• /
• 2003.04a
• /
• pp.82-84
• /
• 2003

In case contact between point of contacts is not achieved well, contact resistance is grown, and by current concentration at current conducting contacts can weld. In order to decrease contact resistance between contacts in case of busbar, installing spring between fixed contact and moving contact. and then force on faying surface of contacts increase and contact resistance decrease. But, in case increase force of spring to widen contact area, operating force moving contact can grow, on the contrary force of spring is small, contact resistance becomes low. Therefore, need to optimize force and number of spring. position, and also need to examine force change on contact surface at point of contact moving. In this paper, dynamic kinetics analysis for force on faying surface of contacts is performed at unsteady state. It is showed to not uniform force on surface between contacts, and we can got more uniform force by means of change spring position.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.4
• /
• pp.350-356
• /
• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.2 s.95
• /
• pp.5-14
• /
• 1999

The necessity of six axis force-torque sensors is well recognized in the fields of automatic fine assembly, deburring polishing, and automatic fish processing using robotic manipulators. The paper proposes a simple and compact elastic structure of the force-torque sensor which senses externally applied three force and three torque components. Rough surface strain distribution of the elastic structure is examined analytically, and then more accurate surface strain are obtained from finite element analysis. The compliance matrix which is a linear relationship between force components and strain measurements is obtained for the proposed sensor. Some basic principles of measuring 3 force and torque components are also presented.

• Journal of the Korean Society of Industry Convergence
• /
• v.2 no.2
• /
• pp.173-180
• /
• 1999

When Automobile runs high velocity, it causes sleepy velocity profile then that generates lift force and drag force. Lift force reduce tire friction force. Drag force increase consumed power. For improve automobile performance, reduction of Lift force and Drag force was seriously considered. It measured experimently using wind tunnel, numerically using numerical analysis. Finite difference method is using difference equation and simplifed mesh. This method require less calculation time and computer power than other method.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.11 no.6
• /
• pp.36-41
• /
• 2012

In this study, we turning plastic mold steel (STAVAX) against cutting speed, depth of cut, feed rate using whisker reinforced ceramic tool (WA1). To predict cutting force, analyze principal, radial, feed force with multi-regression analysis. Results are follows: From the analysis of variance, affected factor to cutting force feed rate, depth of cut, cutting speed in order and cutting speed was very small affect to cutting force. From multi-regression analysis, we extracted regression equation and the coefficient of determination$(R^2)$ was 0.9, 0.88, 0.856 at principal, radial and feed force. It means regression equation is significant. From the experimental verification, it was confirmed that principal, radial and feed force was predictable by regression equation.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.1
• /
• pp.78-83
• /
• 1997

The paper presents the experimental analysis of a Stewart platform-based force-torque senor. The closed-form solution of forward kinematics of the Stewart platform is derived approximately by way of a linearization technique, and the solution is used in the force analysis of the force-torque sensor. An exper- mental studies show that the proposed method including gravity compensation algorithm is valid for Stew- art platform-based force-torque sensors. The performance of the developed force-torque sensor is evaluated in view of accuracy and linearity in measurements.