• Structural Engineering and Mechanics
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• 제36권1호
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• pp.95-110
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• 2010

Two-dimensional elastic contact problems, including normal, tangential, and rolling contacts, are treated with the finite element method in this study. Stress boundary conditions and kinematic conditions are transformed into multiple point constraints for nodal displacements in the finite element method. Upon imposing these constraints into the finite element system equations, the calculated nodal stresses and nodal displacements satisfy stress and displacement contact conditions exactly. Frictional and frictionless contacts between elastically identical as well as elastically dissimilar materials are treated in this study. The contact lengths, sizes of slip and stick regions, the normal and the shear stresses can be found.

• 한국철도학회논문집
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• 제12권6호
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• pp.887-894
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• 2009

라인 레이저와 고속카메라를 이용한 고해상도 레일 마모도 측정 시스템에 대한 최적의 측정 정밀도를 확보하기 위하여 영상 평가지표를 기반으로 촬영 영상에 대한 영상평가를 수행하고 레일 마모도 측정 시스템의 성능을 정량적으로 분석함으로서 시스템 구성과 설치에 따른 레일 마모도 측정 시스템의 성능을 정량적 평가지표(MTF, NPS, DQE)로 추정할 수 있는 방안을 제시하였다.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 1998년도 제27회 춘계학술대회
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• pp.328-334
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• 1998

In this work, friction materials with three different formulations containing different amounts of the solid lubricants were investigated to study the role of lubricants on the friction performance. The three friction materials contained graphite 10 vol. %, graphite 7 vol. % + MoS$_2$ 3 vol.%, and graphite 7 vol. % + $Sb_2S_3$ 3 vol. %, respectively, with the same amount of other ingredients. Results of this work showed that each formulation with different lubricants had unique advantages and disadvantages. The friction materials containing graphite 7 vol. % + MoS$_2$ 3 vol. % and graphite 7 % + $Sb_2S_3$ 3 vol. % showed better resistance to fading and improved friction stability compare to the friction materials containing graphite only as a lubricant. However, the friction materials with two lubricants (graphite + MoS$_2$ or $Sb_2S_3$) showed disadvantages on stick-slip phenomena, amplitude of torque, and rotor wear.

• Transactions on Control, Automation and Systems Engineering
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• 제3권2호
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• pp.111-116
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• 2001

A neural network compensator for stick-slip friction phenomena in meashartonics servo systems is practically proposed to supplement the traditionally available position and velocity control loops for precise motion control. The neural network compensa-tor plays the role of canceling the effect of nonlinear slipping friction force. It works robustly and effectively in a real control system. This enables the mechatronics servo systems to provide more precise control in the digital computer. It was confirmed that the con-trol accuracy is improved near zero velocity and points of changing the moving direction through numerical simulation. However, asymptotic property on the steady state error of the normal operation points is guaranteed by the integral term of traditional velocity loop controller.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.60-63
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• 2000

In this study, efficient force reflection algorithm is developed for the Haptic Display by using a proxy concept and friction model. When there are not any contacted obstacles the proxy is following human operator's command trajectory in the 3D virtual space. But when the operator's command trajectory is locating inside of the object, the proxy is constrained by the surface of the object. Here only with the information of the proxy position and operator's command trajectory at every time step, we can calculate the reflection force and its orientation. To display the friction force between two virtual stiff material which are sliding against each other, modified Karnopp's friction model is used. In the friction model, a damping term and a Stribeck effect term are included to display the relative velocity effect and stick-slip effect at the very low relative velocity region respectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.90.5-90
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• 2002

In this research, we are trying to develop an automatic sorting system, which is mostly affected by frictional forces between a veneer and plank. So we will make a suitable dynamic model and mechanism to control the velocity feedback. We will suggest stick-slip motion model which can predict the stability behavior of this system. The control system has a feedback loop, in which the following operations are included. A kind of sensor can get the velocity of the mass to adhesive veneer. The output of result signal should be passed to a filter, then to a phase shifter, which applies an adjustable phase-shift, to a variable-gain amplifier. A shaker will be attached to the mass, which ex...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.968-973
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• 1991

Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.799-804
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• 2003

Friction phenomenon can be described as two parts which are pre-sliding and sliding regions. In motion of the sliding region, friction forces depend on the velocity of the system and are known as Coulomb, stick-slip, stribeck effect and viscous friction. The pre-sliding region, which is before breakaway, depends on the position of the system. The motion of friction in the sliding region can be described as the LuGre model. But the pre-sliding motion of friction, which has hysteresis characteristics in general, is not known widely. Therefore, an improved friction model, which can describe the motion of friction in the pre-sliding region, is proposed in this paper. And simulation and experimental results show the effectiveness of the proposed friction model for precise tracking control systems.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.208.2-212
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• 1997

In a model based friction comensation for a frictional system,the performance of the system is inflenceed by the selection of the friction model. Especially, when a real plant have dynamic friction characteritics, the compensation of friction with a static friction model may deteriorate the perfomance. For the system we constlucted an adaptiv parameter estimation and friction compensation with a newly introduced dynamic friction model proposed by Canudas et.[1]. The model depicts varios frictional phenomena,such as Stibeck effect,frictional memory, Stick-slip motion. Parmeter identification algorithm are followed conventional RLSM adaptive rule. The stability for the closed system was proved by the Lyapunov stability. The result say that if a real system have dynamic friction property,the friction compensation with the dynamic friction model will improve the perfomance moreover static friction model based compensation may lead to the system unstable.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.476-479
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• 1997

A Knowledge of friction force in pneumatic cylinders makes it possible to improve cylinder description during simulation and to asses performance under changing operating conditions more accurately. Such knowledge is particularly useful, for example, when modeling continuous pneumatic positioning systems or predicting the operating conditions under which stick slip may occur, as well as in establishing preventive maintenance procedures for pneumatic cylinders. Friction force depends on a number of factors, including operating pressure, seal running speed on the cylinder barrel and rod, barrel material and surface roughness, seal dimensions and profile, seal material, lubrication conditions, cylinder distortion during assembly, and the operating temperature of cylinder components. This paper shows a system for measuring the friction force caused by a seal used in pneumatic cylinders. Results of experimental tests show that seal friction forces for grease lubricated service are clearly dependent on speed and pressure and are les sensitivity to other parameter. i.e., barrel material and roughness, seal material, and profile.