• Journal of Mechanical Science and Technology
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• 제16권7호
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• pp.873-881
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• 2002

In this paper, a on-line estimation method of the radial immersion angle using cutting force is presented. The ratio of cutting forces in feed and cross-feed directions acting on the single tooth at the immersion angle is a function of the immersion angle and the ratio of radial to tangential cutting force. It is found that the ratio of radial to tangential cutting force is not affected by cutting conditions and axial rake angle, which implies that the ratio determined by one preliminary experiment can be used regardless of the cutting conditions for a given tool and workpiece material. Using the measured cutting force during machining and predetermined ratio, the radial immersion ratio is estimated in process. Various experimental results show that the proposed method works within 5% error range.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.824-828
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• 2003

This paper explains problems of force-reflecting teleoperation grinding work and proposes some methods to solve those. For stable contact between robot tool(grindstone) and contact surface the mechanical impedance force control is used. The sliding phenomenon of grindstone has been appeared at the contact surface during the grinding work. The sliding problems caused by friction and rotation of grindstone are eliminated by using tangential direction sliding compensation control. The rotation force of grindstone makes the tool move to tangential direction along the surface suddenly even though an operator pushes the tool only in normal direction to the surface. Normal direction force control is applied for grinder not to roll and fracture on the grinding surface. Vibration problem of grindstone is decreased by second order low-pass filter. Therefore we can precise grinding work at the grinding surface and feel the reality

• 오토저널
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• 제8권3호
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• pp.28-36
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• 1986

This study was investigated the feasibility of AE application on in-process detection of tool fracture and chipping. Carbon steel SM45C workpiece with longitudinal slots was turned interruptedly on a lathe. AE RMS signal at tool fracture was observed and also the tangential force and the feed observed at the time of tool fracture, the levels of tangential force and the feed force at the time of fracture decrease considerably. In chipping, high level AE signal was observed but there were no changes of cutting force. Peak AE RMS squared is proportional to the area of tool fracture and resultant force. Fracture model of tool fracture is proposed as $V_{p}$ = $C_{1}$ $E_{1}$F(.DELTA. A)$_{0.5}$ and peak AE RMS shows strong correlation with the fracture parameter F(.DELTA.A)$^{0.5}$.

• 소성∙가공
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• 제14권4호
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• pp.375-383
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• 2005

The shear spinning process, where the plastic deformation zone is localized in a very small portion of the workpiece, shows a promise for increasingly broader application to the production of axially symmetric parts. In this paper, the three components of the working force are calculated by a newly proposed deformation model in which the spinning process is understood as shearing deformation after uniaxial yielding by bending, and shear stress, $\tau_{rz}$, becomes k, yield limit in pure shear, in the deformation zone. The tangential force are first calculated and the feed force and the normal force are obtained by the assumption of uniform distribution of roller pressure on the contact surface. The optimum contact area is obtained by minimizing the bending energy required to get the assumed deformation of the blank. The calculated forces are compared with experimental results. A comparison shows that theoretical prediction is reasonably in good agreement with experimental results

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.831-838
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• 2009

This paper proposes an IR (infrared) LED (Light Emitting Diode)-based tactile fingertip sensor that can independently measure the normal and tangential force between the hand and an object. The proposed IR LED-based tactile sensor has several advantages over other technologies, including a low price, small size, and good sensitivity. The design of the first prototype is described and some experiments are conducted to show output characteristics of the proposed sensor. Furthemore, the effectiveness of the proposed sensor is demonstrated through anti-slip control in a multifunction myoelectric hand, called the KNU Hand, which includes several novel mechanisms for improved grasping capabilities. The experimental results show that slippage was avoided by simple force control using feedback on the normal and tangential force from the proposed sensor. Thus, grasping force control was achieved without any slippage or damage to the object.

• 제어로봇시스템학회논문지
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• 제12권11호
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• pp.1088-1094
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• 2006

In this paper, an auto path generation and an active compliance grinding control using 3-axis farce sensor are presented. These control algorithms enable the grinding robot to follow unknown path of various workpiece shape pattern. The robot is able to go grinding along unknown paths by position controller managing tangential direction angle and cutting speed, with only information about the start position and the end position. Magnitude and direction of normal force are calculated using force data that go through low pass filter. Moreover, normal and tangential directions are separated for force control and velocity control, respectively.

• 대한기계학회논문집
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• 제11권5호
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• pp.772-780
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• 1987

본 연구에서는 면직 및 고무 평벨트에 대하여 베트와 풀리간의 수직 및 접선 마찰력 분포를 측정하고 이들의 마찰특성을 비교하고자 하였다. 마찰접촉면적을 직 접 측정하는 대신, 표면모델에 의한 이론식을 제시하고 이론식과 실험에 의한 수직 및 접선력을 비교하여 마찰면의 표면모델과 마찰계수를 연구하였다.

• 동력기계공학회지
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• 제13권6호
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• pp.117-122
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• 2009

The wedge type rail clamp compresses the rails with small clamping force at first, and with large clamping force when the wind speed increases because of the wedge working. If the supporter is not installed in the rail clamp with V-type wedge when the wind speed increases more and more, the structure will occur overload which leads the structure to fracture. But in the clamp with U-type wedge the supporter is not necessary because the tangential angle of the wedge increases as the sliding distance increases. The proper shape of U-type wedge is determined by the initial clamping force and the tangential angle of the wedge. Accordingly we, first carry out the finite element analysis in order to analyze the relation between the sliding distance and the wedge angle. Next we suggest the proper shape of U-type wedge as analyze the relation between the radius of curvature and the sliding distance.

• 대한기계학회논문집
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• 제18권4호
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• pp.866-875
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• 1994

The problem of a rigid rod sliding on a rough horizontal surface in the plane is analyzed, which is commonly cited as an example of the inconsistency of rigid body frictional mechanics. The inconsistency is demonstrated by analyzing the normal reaction force at the contact point with the surface, and the concept of tangential collision is derived to resolve the inconsistency. Using the Poisson's hypothesis for the coefficient of restitution and Coulomb's law for the friction, the general methodology for solving the tangential collision is presented. The problem of the inconsistency generated in the sliding rod is completely resolved, building the concept of the tangential collision and adopting the theory of frictional impact. The result presented in this paper will obviate a generic obstacle to the development of simulation packages for planar rigid body mechanical systems with temporary contacts, and planning efficient motion strategies for robot manipulators.

• 전산구조공학
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• 제8권4호
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• pp.159-171
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• 1995

한 cycle의 이력곡선 loop을 완전히 표현하기 위해서는 pinch force, drift offset, effective stiffness, unloading, reloading, tangential stiffness 등의 변수가 필요하게 된다. 각 이력 loop에 대해 이들 변수들은 에너지 소산정도에 따라 변위와 축력의 함수로 표현될 수 있다. 본 논문에서는 먼저 16개의 전단벽 실험에서 얻어진 이력곡선 데이타를 분석하여 앞에 기술된 모든 변수를 표준화된 변위(.DELTA/.DELTA.y)의 함수로 표현했으며 이를 바탕으로 이력곡선의 포락선으로 표현되는 힘-변위관계를 예측할 수 있는 6개의 step을 제시하였다. 제시된 기법으로 구해진 비탄성 힘-변위관계는 실험곡선과 비교되었으며 내진설계에 있어서 가장 중요한 요소중 하나인 구조물의 비탄성 힘-변위관계를 예측하는 편리한 기법으로 이용될 수 있음을 보였다.