• Tribology and Lubricants
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• v.24 no.6
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• pp.326-331
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• 2008

The contact surfaces between mold and target should be in parallel for a proper imprinting process. However, large size of contacting area makes it difficult for both mating surfaces (mold and target planes) to be in all uniform contact with the expected precision level in terms of thickness and position. This is caused by the waviness of mold and target although it is very small relative to the area scale. The gripping force for both mold and target by the vacuum chuck is other major effect to interrupt the uniform contact, which must be avoided in imprinting mechanism. In this study, the cause of non-conformal contact mechanism between mold and target is investigated with the consideration of deformation due to the vacuum gripping for the size $470{\times}370\;mm^2$ LCD panel.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2006.05a
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• pp.269-272
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• 2006

Surface contacts between mold and target should be in parallel for the imprinting mechanism. However, the size of contacting area makes it difficult for both mating surfaces to be in all contact because of precision level of the imprinting machine and the waviness of mold and target. The gripping force for both mold and target with the vacuum chuck is also major effect to interrupt the full contact, which must be avoided in imprinting mechanism. In this study, the preliminary study for the causes of non-uniformity of contacting surfaces such as mold and target is performed with $470{\times}370mm^2$ LCD panel size.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.4
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• pp.310-318
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• 2008

This paper presents a parallel typed walking robot to improve walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper leg mechanism and lower leg mechanism. The leg mechanism is composed of three legs and base, which form a parallel mechanism with ground. Seven different types of walking robot are invented by combining the leg mechanisms and an intermediate mechanism. Topology is applied to design the leg mechanism. A motor vector is adopted to determine Jacobian and a wrench vector is used to analyze dynamics of the robot. We explore the stability region of the robot from the reaction force of legs and compute ZMP including the holding force to contact the foot to a wall. This investigates a walking stability when the robot walks on the ground as well as on the wall. We examine the walking space generated by support legs and by swing legs. The robot has both a large positional walking space and a large orientational walking space so that it can climb from a floor up to a wall.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.2
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• pp.116-122
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• 2022

This study proposed a method of testing the stability when selecting gears to reduce the weight of a 3-DOF wrist mechanism for a pick-and-place 3-DOF parallel robot with an increased workspace by using an additional straight axis at its top. We performed SolidWorks^® modeling- and ANSYS^®-based structural analysis of a pinion gear, which is most vulnerable to the force from a 3-DOF wrist mechanism, to lighten the robot weight for performing various tasks. When the initial analysis results considerably differed from the theoretical values calculated in advance, we checked and identified the errors in the contact conditions or input values. Ultimately, it is believed that the methodology presented in this paper will help in mitigating errors during analysis and determine the accurate values for a lightweight 3-DOF wrist mechanism for a parallel robot with an expanded workspace.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.472-473
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• 2008

Flow boiling in parallel microchannels has received attention as an effective heat sink mechanism for power-densities encountered in microelectronic equipment. the bubble dynamics coupled with boiling heat transfer in microchannels is still not well understood due to the technological difficulties in obtaining detailed measurements of microscale two-phase flows. In this study, complete numerical simulation is performed to further clarify the dynamics of flow boiling in microchannels. The level set method for tracking the liquid-vapor interface is modified to include the effects of phase change and contact angle. The method is further extended to treat the no-slip and contact angle conditions on the immersed solid. Also, the reverse flow observed during flow boiling in parallel microchannels has been investigated. Based on the numerical results, the effects of channel shape and inlet area restriction on the bubble growth, reverse flow and heat transfer are quantified.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1045-1049
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• 2005

In this paper, the dynamic crawling of a five-bar planar mechanism is investigated. One complete cycle of the crawling selected in this study consists of four different steps, i) sliding at one contact point between the mechanism and the ground, ii) changing its configuration without sliding at two contact points, iii) sliding at the other contact point, and iv) again changing its configuration without sliding at two contact points. In this type of crawling, the crawling mechanism maintains the shape of the parallel structure throughout a complete crawling cycle. The modeling algorithm for serial manipulators proposed by M. Thomas and et al.[1] is employed by introducing imaginary joints and links which represent the contact interfaces between the one end of the mechanism and the ground, while the other end of the mechanism is regarded as an end-effector of the imaginary serial manipulator which treats the reaction force and torque at the contact point as external forces. Then, a complete cycle of dynamic crawling of the mechanism is investigated through various computer simulations. The simulation result show that the stable crawling characteristics of the mechanism could be secured when the proper configurations depending on specified frictional constraints are met.

• Geomechanics and Engineering
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• v.20 no.6
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• pp.517-525
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• 2020

The long-term stability of rock engineering is significantly affected by the time-dependent deformation behavior of rock, which is an important mechanical property of rock for engineering design. Although the hard rocks show small creep deformation, it cannot be ignored under high-stress condition during deep excavation. The inner mechanism of creep is complicated, therefore, it is necessary to investigate the relationship between microscopic creep mechanism and the macro creep behavior of rock. Microscopic numerical modeling of sandstone creep was performed in the investigation. A numerical sandstone sample was generated and Parallel Bond contact and Burger's contact model were assigned to the contacts between particles in DEM simulation. Sensitivity analysis of the microscopic creep parameters was conducted to explore how microscopic parameters affect the macroscopic creep deformation. The results show that the microscopic creep parameters have linear correlations with the corresponding macroscopic creep parameters, whereas the friction coefficient shows power function with peak strength and Young's modulus, respectively. Moreover, the microscopic parameters were calibrated. The creep modeling curve is in good agreement with the verification test result. Finally, the creep curves under one-step loading and multi-step loading were compared. This investigation can act as a helpful reference for modeling rock creep behavior from a microscopic mechanism perspective.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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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.

• Transactions of Materials Processing
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• v.29 no.2
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• pp.113-117
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• 2020

Various parameters are involved in the frictional behavior of steel sheet during stamping. We performed various tests in order to investigate the influence of tool surface texture directionality upon the resulting friction in sheet forming processes. Four different tools were manufactured which gave us a range of roughness for both parallel and transverse texture directions. Each of the tools was examined in flat type friction tests under identical test conditions. The tool with the transverse surface texture produces significantly lower levels of friction than the tool with parallel texture direction. Considering the lubrication mechanism associated with transverse texture, one can imagine the lubricant being constantly supplied from the reservoir of the micro valley to the point of contact and hence producing the lower levels of friction seen.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.609-614
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• 2005

Parallel manipulators have been used for a variety of applications, including the motion simulators and mechanism for precise machining. Since the ball screws used for linear motion of legs of the Stewart-Gough type parallel manipulator provide wider contact areas than revolute joints, parallel manipulators are usually more affected by frictional forces than serial manipulators. In this research, the method for detecting the frictional forces arising in the parallel manipulator using the gravitational force is proposed. First, the reference trajectories are computed from the dynamic model of the parallel manipulator assuming that it is subject to only the gravitational force without friction. When the parallel manipulator is controlled so that the platform follows the computed reference trajectory, this control force for each leg is equal to the friction force arising in each leg. 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.