• Journal of Welding and Joining
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• 제23권5호
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• pp.61-68
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• 2005

Dissimilar joining of Al 6013-T4 alloys and austenite stainless steel was carried out using friction stir welding technique. Microstructures near the weld zone and mechanical properties of the joint have been investigated. Microstructures in the stainless steel side were composed of the heat affected zone and the plastically deformed zone, while those in the Al alloy side were composed of the recrystallized zone including stainless steel particles, the thermo-mechanically affected zone and the heat affected zone. TEM micrographs revealed that the interface region was composed of the mixed layers of elongated stainless steel and ultra-fine grained Al alloy with lamella structure and intermetallic compound layer. Thickness of the intermetallic layer was approximately 300nm and was identified as the A14Fe with hexagonal close packed structure. Mechanical properties, such as tensile and fatigue strengths were lower than those of 6013 Al alloy base metal, because tool inserting location was deviated to Al alloy from the butt line, which resulted in the lack of the stirring.

• 한국컴퓨터그래픽스학회논문지
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• 제1권2호
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• pp.201-212
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• 1995

This paper presents a new method of dynamics-based synthesis of bipedal, especially human, walking. The motion of the body at a time point is determined by ground reaction force and torque under the support foot and joint torques of the body at that time point. Motion synthesis involves specifying conditions that constrain ground reaction force and torque, and joint torques so that a given desired motion may be achieved. There are conditions on a desired motion which end-users can think of easily, e.g. the goal position and orientation of the swing foot for a single step and the time period of a single step. In this paper, we specify constraints on the motion of the support foot, which end-users would find difficult to specify. They are constraints which enforce non-sliding, non-falling, and non-spinning the support foot. They are specified in terms of joint torques and ground reaction force and torque. To satisfy them, both joint torques and ground reaction force and torque should be determined appropriately. The constraints on the support foot themselves do not give any good clues as to how to determine ground reaction force and torque. For that purpose, we specify desired trajectories of the application point of vertical ground reaction force (ground pressure) and the application point of horizontal ground reaction (friction) force. The application points of vertical pressure and friction force are good control variables, because they are indicators to kinds of walking motions to synthesize. The synthesis of a bipedal walking motion, then, consists of finding a trajectory of joint torques to achieve a given desired motion, so that the constraints are satisfied under the condition of the prescribed center of pressure and center of friction. Our approach is distinguished from many other approaches, e.g. the inverted-pendulum approach, in that it captures and formulates dynamics of the support foot and reasonable constraints on it.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 D
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• pp.1934-1937
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• 1999

A copper-tungsten sintered alloy(Cu-W) has been friction-welded to a tough pitch copper (Cu) in order to investigate friction weldability. The tensile strength of the friction welded joint was increased up to 87% of the Cu base metal under the condition of friction time 1.0 see, friction pressure 40MPa and upset pressure 100MPa, upset time 5.0 sec. And it is related to upset pressure rather than friction time. Mixed layer was formed in the Cu adjacent weld interface and W particles which were included in mixed layer could induce fracture in the Cu adjacent to the weld interface. Thickness of mixed layer was reduced as upset pressure increase.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.422-422
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• 2000

Parallel manipulators have been used to a variety of applications, including the motion simulators and mechanism for precise machining. A Stewart-Gough type parallel manipulator is composed of six linear joints which have wider contact areas than revolute ones, so linear joints are more affected by frictional force. First, the reference trajectories are computed from the model of the parallel manipulator assuming that it is subject to only the gravitational force and no friction exists. In the actual operation where friction exists, the control inputs, which correspond to the friction forces, are obtained by forcing the actual joint variables to follow these trojectories by proper control. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

• Tribology and Lubricants
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• 제13권1호
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• pp.82-87
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• 1997

The modern orthopaedics frequently uses the total hip replacement in the artificial hip joint. The wear in this joint requires a re-replacement of hip joints because it is under the severe load and friction conditions. To solve these problems the previous studies have been mainly focussed on the development of new materials. The research of new materials, however, needs much time and effort since it should be experimented for its bio-compatibility, friction, and wear characteristics. To reduce the work, in this study, the finite element analysis is applied to find new combinations of bio-materials in the total hip replacement which has the excellent contact characteristics. A non-linear FEM program MARC with 5-node axisymmetric element was used for analyzing the contact stresses between the hip joints. The computed results show that in case of acetabulum UHMWP has good characteristics, in femoral head, $Al_2O_3$, and in stem, Ti6Al4V.

• Tribology and Lubricants
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• 제5권2호
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• pp.60-67
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• 1989

For the life prediction and fatigue failure prevention of the constant velocity joint, the maximum equivalent stress and its location in depth from the contact area are essential. These values give the fundamental information to determine the depth of the surface hardening treatment at the contact area. Contact stresses are evaluated at the surface and subsurface of the ball groove of the Weiss type constant velocity joint. The maximum contact pressure and the maximum equivalent stress are obtained. The effects of various parameters such as the radius of ball groove, friction coefficient, and residual stress are studied. The maximum equivalent stress and the maximum contact pressure increase as the radius of the ball grove increases. The location of the maximum equivalent stress moves toward surface as the friction coefficient increases. It was also found that the maximum equivalent stress becomes minimum when the compressire residual stress is about 0.16 times of the maximum contact pressure.

• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• Journal of the Korean Wood Science and Technology
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• 제39권5호
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• pp.437-443
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• 2011

In Korea, there has been a traditional post and beam wood construction with large roof load. Because a large friction is generated in wooden joint or members, it is important to evaluate the friction between wood members according to wood direction. Because most of studies have been concerned with friction between wood and steel, excluding effect of real area of contact, there are a few studies on the friction between wood members. The object of this study was to evaluate friction or coefficient of friction according to normal force and real area of contact of wood. With Japanese larch (Larix kaempferi) test specimens, five steps of normal force and combinations of test were prepared. Results indicated that normal force had almost no affection on the friction, however there was difference about friction or coefficient of friction according to real contact conditions of wood grain and contact area.

• Tribology and Lubricants
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• 제29권1호
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• pp.46-50
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• 2013

In this study, the frictional behaviors of articular cartilage against a Co-Cr alloy in two types of kinematic motions were compared. Cartilage pins were punched from the femoral condyles of porcine knee joints, and Co-Cr alloy disks were machined from orthopedic-grade rods and polished to a surface roughness ($R_a$) of 0.002. Friction tests were conducted by using a pin-on-disk-type tribotester in phosphate buffered saline (PBS) under pressures of 0.5, 1, and 2 MPa. All tests were performed in the repeat pass rotational (ROT) and the linear reciprocal (RCP) sliding motions with the same sliding distance and speed of 50 mm/s. The coefficients of friction of the cartilage against the Co-Cr alloy increased with the sliding time in both kinematic motions for all contact pressures. The maximum coefficients of friction in RCP motion were 1.08, 2.82, and 1.96 times those in ROT motion for contact pressures of 0.5, 1, and 2 MPa, respectively. As the contact pressure increased, the coefficients of friction gradually increased in RCP motion, whereas they decrease and then increased in ROT motion. The interaction between the directional change of the shear stress and the orientation of collagen fiber in the superficial layer of the cartilage could affect the change in the frictional behaviors of the cartilage. A large difference in the coefficients of friction between the two kinematic motions could be interpreted as differences in the directional change of shear stress at the contact surface.

• 한국자동차공학회논문집
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• 제21권4호
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• pp.77-82
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• 2013

In this paper, the design of experiment with two-way factorial design was adopted and from that, optimum values of welding variables including the welding speed and rotation speed were found to improve the strength of AZ31 magnesium alloy sheets joined by the friction stir technique. Tool with shoulder diameter of 12 mm and pin diameter of 3.5 mm was used. Also the welding direction was aligned with the material rolling direction, and dimensions of the AZ31 magnesium alloy sheets were $100{\times}100{\times}2mm$. Conditions of rotation speed were 1000, 1100 and 1200 rpm and those of welding speed were 200, 300 and 400 mm/min. As far as this work is concerned, the optimal conditions for friction stir joint were predicted as the rotation speed of 1200 rpm and welding speed of 200 mm/min.