• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.744-747
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• 2005

This research studied 6-Axes Articulated Robot Manipulator's gain Tuning in consideration of dynamic. First of all, search fur proportional gain of velocity control loop by dynamic signal analyzer. Proportional gain of velocity control loop is connected to dynamic signal analyzer. Next Select free Proportional Gain value. And Select amplitude X of sinusoidal properly so that enough Velocity Feedback Signal may be paid as there is no group to utensil department. Next step, We can get Bode Diagram of Closed loop transfer function response examination in interested frequency. Integral calculus for gain of velocity loop is depended on integral calculus correction's number. We can obtain open loop transfer function by integrator. And we can know bode diagram's special quality from calculated open loop transfer function. With this, Velocity Control Loop's Parameter as inner loop is controlled. Next In moving, when vibration occurs, it controls notch filter. And finally, we have to control fred-forward filter parameter for elevation of control performance.

• 한국기계가공학회지
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• 제20권4호
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• pp.16-23
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• 2021

Currently, 6-axis articulated robots are used throughout the industry because of their 6-dof (degrees of freedom) and usability. However, 6-axis articulated robots have a fixed base and their movements are limited by the rotational operating range of each axis. If the angle of the 2-axis additional axes can be adjusted according to the position and orientation of the end-effector of the 6-axis articulated robot, the effectiveness of the 6-axis articulated robot can be further increased in areas where the angle is important, such as welding. Therefore, in this paper, we proposed a cooperative kinematic inter-operation strategy. The strategy will be verified using the Simulink of MATLABⓇ, an engineering program, and RecurdynⓇ, a dynamic simulation program.

• Restorative Dentistry and Endodontics
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• 제27권4호
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• pp.394-402
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• 2002

2급 복합레진 수복 와동의 치은 변연이 상아질 상에 있을 때 유동성 레진 이장의 유무와 두께가 미세누출에 미치는 영향을 알아보기 위해 본 실험을 시행하였다. 60개의 발거된 대구치의 근, 원심면에 각각 협설측 3mm, 치은벽 깊이 1mm의 2급 와동을 형성하고 치은 변연은 법랑-백아 경계에서 약 1mm 하방에 위치 시켰다. 모든 와동을 32% 인산으로 15초 처리 및 30초 수세 후 Prime & Bond$^{\circledR}$ NT 상아질 접착제를 적용하였고, Tetric Ceram(TC), Tetric Flow(TF)를 이용하여 다음의 6가지 군으로 나누어 수복하였다. (1) TC로 수평 적층 충전, (2) TC로 수직 적층 충전, (3) 0.5-1mm두께로 TF 이장 후 TC로 수평적층 충전, (4) 0.5-1mm 두께로 TF 이장 후 TC로 수직 적층 충전, (5) 2-3mm 두께로 TF 이장 후 TC로 수평적층 충전, (6) 2-3mm두께로 TF이장 후 TC로 수직 적층 충전. 충전된 시편을 37$^{\circ}C$ 100% humidity에서 24시간 보관하고 5$^{\circ}C$와 55$^{\circ}C$에서 500회의 열순환을 실시하여 치은 변연의 0.5mm 외부에 nail varnish를 도포 하여 2% methylene blue 용액에 12시간 침잠시켰다. 시편을 아크릴릭 레진에 매몰하여 수복물의 중앙에서 종절단 한 후 입체현미경하에서 색소의 침투도를 관찰하여 다음과 같은 결과를 얻었다. 유동성 레진의 이장을 시행한 군과 하지 않은 군간에 미세누출은 유의차를 보이지 않았다(p>0.05) 유동성 레진의 두께에 따른 미세누출의 차이는 나타나지 않았다(p>0.05) 경사면 충전법을 시행한 군에서는 유동성 레진을 이장한 군들이 이장하지 않은 군보다 유의하게 많은 누출을 보였다(p<0.05). 수평적층 충전법을 시행한 군에서는 유동성 레진 이장이 미세누출에 유의한 차이를 보이지 않았다(p>0.05).

• 한국자기학회지
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• 제15권2호
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• pp.61-66
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• 2005

서브 마이크론 크기의 셀을 제조하기 위하여 종래의 방식인 전체시료구조를 증착한 후 이온밀링 방식으로 제조하는 대신에 Pt 스텐실 마스크 공정과 e-beam 리소 및 습식 식각 공정을 이용하여 배치형 submicron 셀을 lift-off 방식으로 제조하였다. $500nm{\times}500 nm,\;200nm{\times}300 nm$ 크기에 $CoFe(30 {\AA})/Cu(100{\AA})/CoFe(120{\AA}$) 3층 구조를 셀내에 증착하고 수직전류를 인가하여 자기저항 특성을 조사하였다. 자기저항 특성은 두 자성층의 보자력 차이를 이용하여 스핀의 반평형 구조를 유도하여 슈도 스핀밸브이며 각 셀의 크기에서 1.1, $0.8{\%}$의 자기저항비가 얻어졌다. 또한 전류인가에 따른 저항변화로부터 스핀전달 효과에 따른 스위칭 변화가 일어남을 확인하였으며, 이 구조에서 저항의 변화로부터 측정된 임계전류밀도는 약 $7.65{\times}10^{7}A/cm^2$였다.

• 한국공작기계학회논문집
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• 제13권3호
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• pp.113-118
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• 2004

In this paper, we propose a new weaving trajectory algorithm for the arc welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms using Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. Through simulations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning so that it's trajectory cannot penetrate into a base metal compared to the conventional algorithm using Catmull-Rom curve.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.524-527
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• 2002

This paper is on the development of an educational 6-axis articulated manipulator using 4-bar linkage system. Especially, the 2$^{nd}$ and the 3$^{rd}$ axes need large torque to control the movement of an end-effect. However, small motors (RC-servo, DC-gear, stepping meters) are used for the 4-bar linkage. In addition the manipulator can be operated by a switch and also motion can be realized automatically, based on C-language coded users programs..

• 유체기계공업학회:학술대회논문집
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• 유체기계공업학회 2006년 제4회 한국유체공학학술대회 논문집
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• pp.561-564
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• 2006

Because of new requirements related to the employment of SMT(Surface Mounting Technology) manufacturing and the diversity of components on high density PCB(printed circuit boards), Thermal control of the reflow process is required in oder to achieve acceptable yields and reliability of SMT assemblies. Accurate control of the temperature distribution during the reflow process is one of the major requirements, especially in lead-free assembly. This study has been performed for reflow process using the commercial CFD tool(Fluent) for predicting flow and temperature distributions. There was flow recirculation region that had a weak point in the temperature uniformity. Porous plate was installed to prevent and minimize flow recirculation region for acquiring uniform temperature in oven. This paper provided design concept from CFD results of the steady state temperature distribution and flow field inside a reflow oven.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1760-1763
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• 2003

In this paper, we propose a new weaving trajectory algorithm for the are welding of a articulated manipulator. The algorithm uses the theory of Bezier spline. We make a comparison between the conventional algorithms using Catmull-Rom curve and the new algorithms rising Bezier spline. The proposed algorithm has been evaluated based on the MATLAB environment in order to illustrate its good performance. The algorithm has been implemented on to the industrial manipulator of DR6 so as to show its real possibility. Through simulations and real implementations, the proposed algorithm can result in high-speed and flexible weaving trajectory planning and can reduce the processing time because it needs one-half calculation compared to the conventional algorithm using Catmull-Rom curve.

• 한국공작기계학회논문집
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• 제17권1호
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• pp.35-42
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• 2008

By the reason of increased demand of high productivity and quality, the manufacturer have an effort in many directions of a machine tool industries. Among there, we proposed method of decreasing displacement in MC(machining center). In other words, Quality related with vibration of a tool cutting products. For decreasing it, improved by optimizing a shape of the column-part and acceleration curves of motors. In this paper we could find design factors has much influence on decreasing the displacement using the DOE(Design of Experiments) and optimized the level of the factors using $ADAMS^{(R)}$ and $MINITAB.^{(R)}$ And we suggest optimized a acceleration curve using $Matlab^{(R)}$.

• 한국생산제조학회지
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• 제20권6호
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• pp.778-784
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• 2011

This paper presents the study on orientations interpolation of 6-axis articulated robot using quaternion. In this paper, we propose a control algorithm between given two orientations of 6-axis articulated robot by using a quaternion with spherical linear interpolation. In order to study the quaternion interpolation, We created Inverse kinematics program and Interpolation program using LabVIE$^{(R)}$. The rotation angle of each axis were calculated using both euler orientations interpolation program and quaternion orientations interpolation program. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both LabVIEW$^{(R)}$ and RecurDyn$^{(R)}$.