• 한국정밀공학회지
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• 제14권4호
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• pp.78-87
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• 1997

In machine tools, frictional force exists between the table and the guideways, and in ballscrews. In this paper, feed motor current measured by a hall sensor is used to calculate the motor torque. Some frictional phenomena are studied in feed drive systems, such as the relationship between feedrate and frictional torque, and chip cover effects on frictional torque. Considering frictional phenomena, the relation- ship between the feed froce and the feed motor current id obtained. Feed force can be well estimated by feed motor current measurement considering frictional behavior. The relationship between the cutting force and the feed motor current is slightly different between up milling and down milling due to the effect of y direc- tional cutting force on frictional torque.

• 대한기계학회논문집A
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• 제28권3호
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• pp.222-229
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• 2004

In this paper, the torque of CNC spindle motor during machining is estimated without speed measuring sensor. The CNC spindle system is divided into two parts, the induction spindle motor part and mechanical part. In mechanical part, the variation of the frictional force due to the increment of the cutting torque and the effect of damping coefficient is investigated. Damping coefficient is found to be a function of spindle speed and not influenced by the weight of the load, while frictional force is a function of both the cutting torque and spindle speed. Experimental equations are drawn for damping coefficient and Coulomb friction as a function of spindle speed. Incremental frictional torque Is also obtained as a function of both cutting torque and spindle speed. Graphical programming is used to implement the suggested algorithm to monitor the torque of an induction motor in real time. Torque of the spindle induction motor is estimated well in about average 3% error range under various cutting conditions.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.18-23
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• 2002

In this paper, The torque of CNC spindle motor during machining is estimated without speed measuring sensor. The CNC spindle system is divided into two parts, the induction spindle motor part and mechanical part. In mechanical part the variation of the frictional force due to the increment of the cutting torque and the effect of damping coefficient is investigated. Damping coefficient is found to be a function of spindle speed and not influenced by the weight of the load, while frictional force is a function of both the cutting torque and spindle speed. Experimental formulars are drawn for damping coefficient as a function of spindle speed and frictional force as a function of both cutting torque and spindle speed respectively, to estimate the cutting torque accurately. Graphical programming is used to implement the suggested algorithm, to monitor the torque of an induction motor in real time. Torque of the spindle induction motor is well monitored with 3% error range under various cutting conditions.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.555-559
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• 2001

Feed and spindle motor currents are used toi monitor the cutting process practically. The sensitivity of spindle drive system is lower than that of feed drive system, but the cutting torque is represented well by the spindle motor current. During multi-axis cutting, it is difficult to calculate the resultant cutting force using feed motor currents, because each feed force is reflected by each axis feed motor current with different time delay. It is also difficult to compensate the frictional torque using the feed motor current, because the magnitude of the frictional torque is dependent of the feedrate, table position, and cutting direction. On the other hand, cutting torque can be estimated well using spindle motor current which is independent of the cutting direction.

• 한국정밀공학회지
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• 제32권2호
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• pp.149-157
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• 2015

Ball and roller bearings are commonly used machine elements for supporting rotating motion about shafts in simple devices including bicycles, in-line skates, and electric motors, as well as in complex machines. Heat is generated by the friction in the bearings, which causes the temperature inside the bearing to increase. If the heat is not appropriately removed from the bearing, elevated temperatures may give rise to premature failure. It is, therefore, important to be able to calculate the temperature in the bearings due to friction.Here, we describe a method to estimate the frictional torque in bearings using an empirical formula developed using a method based on bearing analysis tool and the measured frictional torque in a spindle system. Thermal analysis of the spindle system including the bearings was achieved using the finite element method (FEM), and the bearing temperature was compared with measured data to verify the empirical formula.

• 대한치과교정학회지
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• 제21권3호
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• pp.543-560
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• 1991

Practitioners are aware of the presence of friction between bracket system and archwire during sliding movement of teeth. Clinically a mesiodistally applied force must exceed the frictional force to produce a tooth movement. The objective of this study were to determine, on a dry condition, changes in magnitude of friction with respect to load, 3rd order inclination (Torque), archwire materials and ligature type. Three wire alloys (Stainless Steel, TMA, NiTi) in two wire sizes (.016, .016x, .022 inch) were examined respect to two bracket system (Straight, Standard), and two ligature type (Metal, Plastic ligature) at three levels of load (100g, 150g, 200g). The results were as follows; 1. Frictional resistance was found to increase with increasing load for S.S., TMA, NiTi. 2. The straight bracket system was exhibited more frictional force than standard bracket system for .016x, .022 S.S. tightly ligated metal ligature. But, torque difference did not increase friction for loose metal ligature & plastic ligature. 3. Regardless of the ligature type, torque and load, stainless steel wire sliding against stainless steel exhibited the lowest friction, and TMA sliding against stainless steel exhibited the highest friction. 4. The loose stainless steel ligature generated lower frictional resistance than plastic ligature in all experimental groups. 5. The following factors affected friction in decreasing order; wire material ligature type, and load.

• Journal of Mechanical Science and Technology
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• 제19권12호
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• pp.2205-2212
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• 2005

In this paper, the cutting torque of a CNC machine tool during machining is monitored through the internet. To estimate the cutting torque precisely, the spindle driving system is divided into two parts: electrical induction motor part and mechanical part. A magnetized current is calculated from the measured three-phase stator currents and used for the total torque estimation generated by a spindle motor. Slip angular velocity is calculated from the magnetized current directly, which gets rid of the necessity of a spindle speed sensor. Since the frictional torque changes according to the cutting torque and the spindle rotational speed, an experiment is adopted to obtain the frictional torque as a function of the cutting torque and the spindle rotation speed. Then the cutting torque can be calculated by solving a $2^{nd}$ order difference equation at a given cutting condition. A graphical programming method is used to implement the torque monitoring system developed in this study to the computer and at the same time monitor the torque of the spindle motor in real time through the internet. The cutting torque of the CNC lathe is estimated well within an about $3\%$ error range in average in various cutting conditions.

• 반도체디스플레이기술학회지
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• 제18권1호
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• pp.25-31
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• 2019

In this study, a new adhesion evaluating equipment and data processing methods were developed to overcome some limitations of existing evaluating equipment. Nano-diamond coated tool is a specimen of experiment. When applying frictional force and shear force on the specimen by a rotating polishing pad, delamination occurs at a moment. During each experiment, the vibration, load, and torque is obtained by accelerometer, loadcell and torque s+ kpensor. Frictional force and coefficient of friction are obtained by calculating torque and load. Based on FFT transformation, acceleration is processed and analyzed. As a result, the moment of delamination and the load at that time can be detected by the new developed equipment and measurement system. Finally, we call this load as an Adhesion force.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.90.6-90
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• 2002

An active stick which has the variable force-feel characteristics is developed. A combined position and force control strategy is mechanized using a 2-axis built-in force sensor and LVDT. The 2-axis force sensor which measures the stick force felt by the operator is developed by using strain gages and appropriate instrumental amplifiers. A mathematical model of the active stick dynamics is derived, and compared with the experimental results. The frictional torque of the stick due to the mechanical contacts of several parts makes the experimental frequency responses to be dependent on the magnitude of excitation signal, and the precision closed loop control to be difficult. A friction observe...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1424-1429
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• 2004

In this paper a mathematical framework for 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.