• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2001년도 제33회 춘계학술대회 개최
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• pp.127-134
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• 2001

Nano adhesion and friction between a Sj$_3$N$_4$ AFM tip and thin silver films were experimentally studied. Tests were performed to measure the nano adhesion and friction in both AFM(atomic force microscope) and LFM(lateral force microscope) modes in various ranges of normal load. Thin silver films deposited by IBAD (ion beam assisted deposition) on Si-wafer (100) and Si-wafer of different surface roughness were used. Results showed that nano adhesion and friction decreased as the surface roughness increased. When the Si surfaces were coated by pure silver, the adhesion and friction decreased. But the adhesion and friction were not affected by the thickness of IBAD silver coating. As the normal force increased, the adhesion forces of bare Si-wafer and IBAD silver coating film remained constant, but the friction forces increased linearly. Test results suggested that the friction was mainly governed by the adhesion as long as the normal load was low.

• Earthquakes and Structures
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• 제7권4호
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• pp.511-525
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• 2014

The main object of this study is to determine and compare the structural behavior of base isolated long span highway bridge, $G\ddot{u}lburnu$ Highway Bridge, using single concave friction pendulum (SCFP) and triple concave friction pendulum (TCFP). The bridge is seismically isolated in the design phase to increase the main period and reduce the horizontal forces with moments using SCFP bearings. In the content of the paper, firstly three dimensional finite element model (FEM) of the bridge is constituted using project drawings by SAP2000 software. The dynamic characteristics such as natural frequencies and periods, and the structural response such as displacements, axial forces, shear forces and torsional moments are attained from the modal and dynamic analyses. After, FEM of the bridge is updated using TCFP and the analyses are performed. At the end of the study, the dynamic characteristics and internal forces are compared with each other to extract the TCFP effect. To emphasize the base isolation effect, the non-isolated structural analysis results are added to graphics. The predominant frequencies of bridge non-isolated, isolated with SCFP and isolated with TCFP conditions decreased from 0.849Hz to 0.497Hz and 0.338Hz, respectively. The maximum vertical displacements are obtained as 57cm, 54cm and 44cm for non-isolated, isolated with SCFP and isolated with TCFP conditions, respectively. The maximum vertical displacement reduction between isolated with TCFP bearing and isolated with SCFP bearing bridge is %23. Maximum axial forces are obtained as 60619kN, 18728kN and 7382kN, maximum shear forces are obtained as 23408kN, 17913kN and 16249kN and maximum torsional moments are obtained as 24020kNm, 7619kNm and 3840kNm for non-isolated, isolated with SCFP and isolated with TCFP conditions, respectively.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1652-1655
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• 2005

All teeth on the cycloidal plate gear exist in the contact motion with rollers and the forces are interacted between roller gears with cycloidal plate gears. So, the contact forces and friction forces must be required to improve the accuracy in design procedures of cycloidal speed reducers. This paper presents a force analysis considered the friction effect approach derived by static force equilibrium condition, geometrical adaptation, instant velocity center method and relative velocity method. Finally, the paper develops CAD-program for the construction of the design automation using the proposed method.

• Tribology and Lubricants
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• 제24권5호
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• pp.241-249
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• 2008

This paper describes the tribological effects on the nonlinear behavior of a spur gear pair with one-way clutch according to the direct contact elastic deformation model over a wide range of speeds, considering the hydrodynamic effects. The effects of various lubrication parameters, such as viscosity, film width, and friction, on the nonlinear dynamic behavior were analyzed. Forces due to the entraining velocity and the hydrodynamic friction were about two orders smaller than normal forces over the whole speed range. While the viscosity has a strong effect on the behavior of gear pair systems, friction has very little effect on torsional behavior. The inclusion of the hydrodynamic effect facilitates nonlinearity by increasing the overlap and damping, as well as decreasing elastic deformation and tooth reaction forces.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.887-898
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• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 접착 및 계면
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• 제5권2호
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• pp.31-42
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• 2004

Many animals possess on their legs adhesive pads, which have undergone evolutionary optimization to be able to attach to variable substrates and to control adhesive forces during locomotion. Insect adhesive pads are either relatively smooth or densely covered with specialized adhesive hairs. Theoretical models predict that adhesion can be increased by splitting the contact zone into many microscopic, elastic subunits, which provides a functional explanation for the widespread 'hairy' design. In many hairy and all smooth attachment systems, the adhesive contact is mediated by a thin film of liquid secretion between the cuticle and the substrate. By using interference reflection microscopy (IRM), the thickness and viscosity of the secretion film was estimated in Weaver ants (Oecophylla smaragdina). 'Footprint' droplets deposited on glass are hydrophobic and form low contact angles. IRM of insect pads in contact showed that the adhesive liquid is an emulsion consisting of hydrophilic, volatile droplets dispersed in a persistent, hydrophobic phase. I tested predictions derived from film thickness and viscosity by measuring friction forces of Weaver ants on a smooth substrate. The measured friction forces were much greater than expected assuming a homogenous film between the pad and the surface. The findings indicate that the rubbery pad cuticle directly interacts with the substrate. To achieve intimate contact between the cuticle and the surface, secretion must drain away, which may be facilitated by microfolds on the surface of smooth insect pads. I propose a combined wet adhesion/rubber friction model of insect surface attachment that explains both the presence of a significant static friction component and the velocity-dependence of sliding friction.

• 대한치과교정학회지
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• 제19권1호
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• pp.245-256
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• 1989

Translational movement along an arch wire requires sufficient force to overcome frictional forces between bracket and arch wire. The orthodontist must appreciate the importance of friction in this process, and study out the influencing factors on the level of friction. The purpose of this study was to evaluate the effect of artificial saliva on frictional resistances generated between the bracket and arch wire. Independent variables of this study were arch wire material, angulation and environment. Static frictional forces of cobalt-chromium, heat-treated cobalt-chromium, beta-titanium, stainless steel wires were measured under non-angulated dry, angulated dry, non-angulated saliva, angulated saliva conditions. The results were as follows: 1. Stainless steel wires showed lower friction values in non-angulated dry condition, and heat-treated cobalt-chromium wires showed higher friction values in angulated dry condition. Higher friction values were showed in order of cobalt-chromium. stainless steel, heat-treated cobalt-chromium and beta-titanium wires in non-angulated saliva condition. and were showed in order of stainless steel, cobalt-chromium, heat-treated cobalt-chromium, beta-titanium wires in angulated saliva condition. 2. Angulation increased friction for stainless steel wires under dry condition. 3. Artificial saliva decreased friction for cobalt-chromium wires and increased friction for stainless steel wires under non-angulated condition. 4. Artificial saliva decreased friction for all wires except beta-titanium wires under angulated condition. 5. Regardless of angulation or environment. heat-treated cobalt-chromium and beta-titanium wires showed higher friction values, and stainless steel wires showed lower friction values.

• 한국기계가공학회지
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• 제19권6호
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• pp.1-8
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• 2020

This paper proposes a method for measuring friction forces and creating a friction model for a rotary motion control system as well as an autonomous vehicle testbed. The friction forces versus the velocity were measured, and the viscous friction, Coulomb friction, and stiction were identified. With a nominal PID (proportional-integral-derivative) controller, we observed the adverse effects due to friction, such as excessive steady-state errors, oscillations, and limit-cycles. By adding an adequate friction model as part of the augmented nonlinear dynamics of a plant, we were able to conduct a simulation study of a motion control system that well matched experimental results. We have observed that the implementation of a model-based friction compensator improves the overall performance of both motion control systems, i.e., the rotary motion control system and the Altino testbed for autonomous vehicle development. By utilizing a better simulation tool with an embedded friction model, we expect that the overall development time and cost can be reduced.

• Tribology and Lubricants
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• 제20권2호
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• pp.102-108
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• 2004

In this paper, friction and wear behaviors between monocrystalline, defect-free copper and carbon on the atomic scale are investigated by using 2-dimensional molecular dynamics simulation. It is assumed that all interatomic forces are given by Morse potential. The deformation of carbon is assumed to be neglected and vacuum condition is also assumed. Average friction and normal forces for various surface conditions, various scratch speeds and scratch depths are obtained from simulations. Changes of wear behaviors for various scratch speeds and surface conditions are investigated by observing snapshots in scratch process. The effects of surface conditions, scratch speeds, and scratch depths on the friction force, normal force, and friction coefficient are also investigated.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.476-479
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• 1997

A Knowledge of friction force in pneumatic cylinders makes it possible to improve cylinder description during simulation and to asses performance under changing operating conditions more accurately. Such knowledge is particularly useful, for example, when modeling continuous pneumatic positioning systems or predicting the operating conditions under which stick slip may occur, as well as in establishing preventive maintenance procedures for pneumatic cylinders. Friction force depends on a number of factors, including operating pressure, seal running speed on the cylinder barrel and rod, barrel material and surface roughness, seal dimensions and profile, seal material, lubrication conditions, cylinder distortion during assembly, and the operating temperature of cylinder components. This paper shows a system for measuring the friction force caused by a seal used in pneumatic cylinders. Results of experimental tests show that seal friction forces for grease lubricated service are clearly dependent on speed and pressure and are les sensitivity to other parameter. i.e., barrel material and roughness, seal material, and profile.