• 대한기계학회논문집A
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• 제25권2호
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• pp.192-197
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• 2001

Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control techniques. To satisfy the requirements, importance of the force control is being continuously increased and the expensive force sensor is often installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimate the contact force occurred between the end-effector of robots and environment in 3-D. The contact force monitoring system is developed based on the static and dynamic models of 3 DOF robot manipulators, where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• 정보저장시스템학회논문집
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• 제10권1호
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• pp.14-18
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• 2014

Adhesion between carbon nanotube (CNT) arrays is measured and characterized for number of different contact areas. The CNT arrays are directly grown on an electrostatic microactuator, and they make contact with each other during the growth process. The pull-out force is precisely applied by the microactuator while the contact status is identified by measuring electrical resistance between the CNT arrays. We have designed different contact areas of 1000, 6000, and 8500 ${\mu}m^2$ between the CNT arrays, and the corresponding adhesion increases from 0.9 to 3.7 ${\mu}N$ as the contact area increases.

• Journal of Mechanical Science and Technology
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• 제20권10호
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• pp.1548-1556
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• 2006

Appropriate contact force is required for the pantograph on the high speed train to collect current from the catenery system without separation. However, at high speed, large aerodynamic lifting force is generated by the contact plate and the body of pantograph, which may cause wear of the contact wire. In this study, to confirm the interface performance of the pantograph on Korea High Speed Train, a method to measure the contact force of the pantograph was proposed and the related measuring system was developed. The forces acting on the pantograph were clarified and a practical procedure to estimate the forces was proposed. A special device was invented and applied to measure the aerodynamic lifting force. Measured contact forces were displayed by the developed system and evaluated based on the criteria.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.370-375
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• 1992

An algorithm for the notion planning of the robotic hand is proposed to generate finite displacements and changes in orientation of objects by considering sliding effects between the fingertips and the object at contact points. Specifically, an optimization problem is firstly solved to find minimum contact forces and minimum joint velocities to impart a desired motion to the object at each time step. Then the instantaneous relative velocity at the contact point is found by determining velocities of the fingertip and the velocity of the object at the contact point. Finally time derivatives of the surface variables and contact angle of the fingertip and the object at the present time step is computed using the Montana's contact equation to find the contact parameters of the fingertip and the object at the next time step. To show the validity of the proposed algorithm, a numerical example is illustrated by employing the robotic hand manipulating a sphere with three fingers each of which has four joints.

• Tribology and Lubricants
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• 제37권2호
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• pp.71-76
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• 2021

As opposed to using fossil fuels, we need to use eco-friendly resources such as sunlight, raindrops and wind to produce electricity and combat environmental pollution. A triboelectric nanogenerator (TENG) is a device that converts mechanical energy into electricity by inducing repetitive contact and separation of two dissimilar materials. During the contact and separation processes, electron flow occurs owing to a change in electric potential of the contacting surface caused by contact electrification and electrostatic induction mechanisms. A solid-solid contact TENG is widely known, but it is possible to generate electricity via liquid-solid contact. Therefore, by designing a hydrophobic TENG, we can gather electricity from raindrop energy in a feasible manner. To fabricate the superhydrophobic surface of TENGs, we employ a dip coating technique to synthesize an octadecylamine (ODA)- and polydimethylsiloxane (PDMS)-based coating on polyethylene terephthalate (PET). The synthesized coating exhibits superhydrophobicity with a contact angle greater than 150° and generates a current of 2.2 ㎂/L while water droplets fall onto it continuously. Hence, we prepare a box-type TENG, with the ODA/PDMS coating deposited on the inside, and place a 1.5 mL water droplet into it. Resultantly, we confirm that the induced vibration causes continuous impacts between the ODA/PDMS coating and the water, generating approximately 100 pA for each impact.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2002년도 proceedings of the second asia international conference on tribology
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• pp.89-90
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• 2002

Ball reducer (HERB Drive: High Efficient Wave Rolling Ball Drive) with waved grooves has many advantages over other types of reducers for high-reduction ratio, low noise and low energy loss, etc. The mechanism of force transmission is very similar to that of cam and follower in automobile valve train system especially in contact behaviors. In this study, we have investigated the traces of contact between ball and outer ring, and the dynamic contact behaviors of elastohydodynamic lubrication(EHL) with a certain reduction ratio. In order to verify the contact behaviors between ball and outer ring for the critical endurance lift, the contact velocity and load are computed for a cycle. During some intervals of a cycle, the contact velocity reverses its direction very suddenly. It is expected that changing the contact direction causes undesirable endurance performance because EHL film frequently col lapse at the moment of velocity reversal. From the computational investigation in this work, we hope to predict similar contact damages in other machinery due to this kind of contact behaviors, which is very typical in many contact phenomena.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회B
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• pp.2357-2362
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• 2008

LHP is different from a conventional heat pipes in design and heat and fluid flow passages. The situations of the former is much complex than the latter. In LHPs, evaporation occurs at the contact interface between the heating plate and the porous wick, so some micro channels machined at the contact interface serve to let the vapor flow out of the evaporator. This complexity of contact geometry was known to cause a high resistance to heat flow. The present work was to study the problem of heat passage across the contact surface for LHPs and determine those values contact resistance. For two cases of contact structures, the thermal contact resistances were examined experimentally, one being obtained through mechanical contact under pressure and the other through sintered bonding. Nickel powder wick and copper plate were used for specimens. The result showed that a substantial reduction of contact resistance of an order of degree could be obtainable by sintered bonding.

• Steel and Composite Structures
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• 제43권5호
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• pp.661-672
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• 2022

The solution of contact problems is extremely important as we encounter many situations involving such problems in our daily lives. One of the most important parameters effective in solving contact problems is the materials of the parts in contact. While it is relatively easy to solve the contact mechanics of the systems created with traditional materials with a homogeneous microstructure and mechanical distribution, it may be more difficult to solve the contact problem of new generation materials that do not show a homogeneous distribution. As a result of this situation, it is seen that studies on contact problems of materials that do not exhibit such a homogeneous internal structure and mechanical properties are extremely limited in the literature. In this context, in this study, analytical and numerical analyzes of a contact problem created using functionally graded materials were carried out and the results were evaluated mutually. It has been decided that the contact areas and contact pressures acquired from numerical method are reasonably appropriate with the results obtained from the analytical method.

• 대한기계학회논문집A
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• 제20권1호
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• pp.154-162
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• 1996

Ball screws are commonly used in linear motion feeding systems of various machine tools and automated systems. They are known to have relatively little backlash, high precision and efficiency compared to ordinary lead screws. Furthermore, the effectiveness of ball screw has made it the preferred choice of many newly developed high speed precision feeding units. The motivation of this work is to establish the groove edsigh basis of ball screws for the reduction of contact fatigue failure. In most instances, fatigue failure between ball and shaft groove is due to excessive contact pressure. Especially, the excessive load is causative of plastic flow below the contact surface, which can contribute to surface failure. But, in spite of small load, if groove conformity rate is large, contact pressure is increased and internal shear stress reach the yield value of the material. In such a point, the authors deal with design procedure for deciding the permissible conformity rate of a ball screw groove with the computational evaluation of contact pressure and maximum shear stress.

• Journal of Mechanical Science and Technology
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• 제14권6호
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• pp.666-674
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• 2000

Large deflection dynamic responses of laminated composite cylindrical shells under impact are analyzed by the geometrically nonlinear finite element method based on a generalized Sander's shell theory with the first order transverse shear deformation and the von-Karman large deflection assumption. A modified indentation law with inelastic indentation is employed for the contact force. The nonlinear finite element equations of motion of shell and an impactor along with the contact laws are solved numerically using Newmark's time marching integration scheme in conjunction with Akay type successive iteration in each step. The ply failure region of the laminated shell is estimated using the Tsai- Wu quadratic interaction criteria. Numerical results, including the contact force histories, deflections and strains are presented and compared with the ones by linear analysis. The effect of the radius of curvature on the composite shell behaviors is investigated and discussed.