• Journal of the Korean Society for Precision Engineering
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• v.31 no.6
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• pp.535-541
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• 2014

In this research, three degree-of-freedom parallel spherical robot is developed for an artificial eyeball. The proposed system is comprised of a moving and a base plate, three prismatic actuators, and a ball joint for an angular movement of the moving plate. The vector analysis is employed to investigate the relationship between positions of the actuators and a pose of the moving plate. The required ranges for every actuators are calculated using the derived inverse kinematics in regard to the combination of two different levels for the size of the system component. Then the size of every components is determined from the analyzed trend. PI controller is employed for the position control of the moving plate. Finally the proposed system is verified using an arbitrary path of the angular movement.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.9
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• pp.982-989
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• 2009

Parallel Kinematic Mechanism (PKM) is a device to perform the various motion in three-dimensional space and it calls for six degree of freedom. For example, Parallel Kinematic Mechanism is applied to machine tools, medical equipments, MEMS, virtual reality devices and flight motion simulators. Recently, many companies have tried to develop new Parallel Kinematic Mechanism in order to improve the cycle time and the precisional tolerance. Parallel Kinematic Mechanism uses general universal joint and spherical joint, but such joints have accumulated tolerance problems. Therefore, it causes position control problem and dramatically life time reduction. This paper focused on the rolling element to improve sliding precision in new sliding ball joint development. Before the final design and production, it was confirmed that new sliding ball joint held a higher load and a good geometrical structure. FEM analysis showed a favorable agreement with tensile and compressive testing results by universal testing machine. In conclusions, a new sliding ball joint has been developed to solve a problem of accumulated tolerance and verified using tensile and compressive testing as well as FEM analysis.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.7
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• pp.779-784
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• 2014

This study provided the analytical model describing the friction-induced noise in the ball joint system under the edge loading condition. The frictional and conformal contact kinematics between the spherical bearing and the hemispherical socket was derived and the dynamic equations of the perturbed motion were established. The numerical results revealed that the bending modes of the ball joint system can become unstable due to friction, and the axial load and contact stiffness strongly influenced the dynamic instability. In contrast, the tilting angle of the socket was not found to significantly contribute to the dynamic instability of the ball joint.

• Communications of the Korean Mathematical Society
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• v.10 no.1
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• pp.133-135
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• 1995

In this note, we will investigate the radial symmetry of some kind of solutions of nonlinear ellipitic equations $$ \Delta U = f(U) $$ $$ (1.1) U = 0 in B $$ $$ U \in C^2 (\bar{B}) on \partial B$$ Here f is $C^1$ and B denotes a n-dimensional unit ball in $R^n$.

• Journal of applied mathematics & informatics
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• v.9 no.1
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• pp.277-288
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• 2002

Influence of form errors of a chamber filled with a liquid on the movement and stability of a ball, rotating in the chamber, is studied. Two cases of the influence of the chamber form errors on the forces, acting on the ball, are defined. The first case describes the situation when limitations on the rotor shift are not imposed and disturbances of the chamber form are set by spherical harmonics not above the first order. In the second case disturbance of a chamber form is arbitrary and the rotor is supposed small. A rising here diflective moment tends to direct the angular speed vector along the small semiaxis of the ellipsoid, i.e., a stable position of the rotor appears.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.35 no.7
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• pp.677-683
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• 2011

Until now, several empirical models for assessing the damage due to TNT explosions have been proposed. A set of analytical solutions for the time-dependent radius of an expanding fire-ball after detonation of TNT was obtained by solving the continuity, Euler (momentum), and energy equations with a "polytrope" assumption at the fire-ball center. The shock waves developed from the rapid expansion of a fire-ball under water were obtained by using the KirkwoodBBethe hypothesis. The calculated period of bubble oscillation and the maximum radius of the bubble resulting from the fire-ball due to a violent underwater TNT explosion were in good agreement with the experimental data.

• Korean Chemical Engineering Research
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• v.56 no.2
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• pp.191-203
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• 2018

This study was investigated the effect of the morphology change of copper (Cu) powders under the different rotational speed and milling time by using three kinds of grinding media with different size and materials, and performed DEM simulations of ball behavior. In order to clarify the mechanism of grinding by three - dimensional simulations of the ball behavior in a traditional ball mill, the force, kinetic energy, and medium velocity of the grinding media were calculated. In the simulation, the amount of change of the input energy was also calculated by adjusting the rotational speed, ball material, kinetic velocity, and friction coefficient in the same as the actual experimental conditions. The scanning electron microscope results show that the particle morphology changes from irregular to spherical when the ball size is small.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.2 s.95
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• pp.201-210
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• 1999

One of the major limitations of productivity and quality in metal cutting is the machining accuracy of machine tools. The machining accuracy is affected by geometric and thermal errors of the machine tools. Therefore, a key requirement for improving te machining accuracy and product quality is to reduce the geometric and thermal errors of machine tools. This study models geometric error for error analysis and develops on-machine measurement system by which the volumetric erors are measured. The geometric error is modeled using form shaping function(FSF) which is defined as the mathematical relationship between form shaping motion of machine tool and machined surface. The constant terms included in the error model are found from the measurement results of on-machine measurement system. The developed on-machine measurement system consists of the spherical ball artifact (SBA), the touch probe unit with a star type stylus, the thermal data logger and the personal computer. Experiments, performed with the developed measurement system, show that the system provides a high measuring accuracy, with repeatability of ${\pm}2{\mu}m$ in X, Y and Z directions.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.06a
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• pp.239-245
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• 2005

The reduction of heat transfer rate to the stored liquid hydrogen from outside condition is extremely important to keep the liquid hydrogen longer. In this paper the highly efficient support system for the liquid hydrogen storage vessel was newly developed and analysed. The support system was composed of a spherical ball in the center of supporter to reduce the heat transfer area, with its above and below supporting blocks which are the SUS and PTFE blocks inserted in the SUS tube. The heat transfer rate and temperature distribution of the support system were evaluated by FLUENT, and the thermal stress and strain were estimated by ANSYS software. The results showed that the heat transfer rate from outer vessel to inner one was extremely decreased compared with the common method which is simply SUS tubes inserted between inner and outer tanks. The thermal stress and strain were obtained well below the limited values. As a result, it was the most efficient support system of storage vessel for liquid hydrogen and most cryogenic fluids.

• Journal of Advanced Marine Engineering and Technology
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• v.31 no.4
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• pp.363-369
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• 2007

Probably the most significant heat transfer in the cryogenic liquid hydrogen storage tank from the atmosphere may occur through its support system. In this paper the efficient support system for the cryogenic storage vessel was newly developed and analysed. The support system was composed of a spherical ball as a supporter to reduce the contact area. which is located between two supporting SUS tubes inserted SUS and PTFE blocks. Numerical analyses for temperature distribution, and the thermal stress and strain of the support system were performed by the commercial codes FLUENT and ANSYS. The heat transfer rate of the supporter was evaluated by the thermal boundary potential method which can consider the variation of thermal conductivity with temperature. The results showed that the heat transfer rate through the developed supporter compared with the common SUS tube supporter was significantly reduced. The thermal stress and strain were obtained well below the limited values. It was found that the developed supporter can be one of the most efficient support systems for cryogenic liquid storage vessel.