• Title/Summary/Keyword: Ball-screw System

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Development of Graphic interface for Biped walking robot (이족 보행 로봇의 그래픽 인터페이스 개발)

  • 김영식;전대원;최형식
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2002.10a
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    • pp.507-510
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    • 2002
  • We developed a human-sized BWR(biped walking robot) named KUBIRI driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIRI was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize informations on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interfacer was developed based on the open inventor tool. Through the graphic interfacer, the control input of KUBIRI is performed.

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The Couplings for ball-screw on high precision positioning (고정도 이송을 위한 공기정압커플링에 관한 연구)

  • 황성철;전도현;이득우
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2002.04a
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    • pp.161-166
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    • 2002
  • Recently, researches on precision machining of nato-order, especially in the field of optical components and semi-conductors have been under development very actively. A accuracy of machining and positioning in a critical issue in ultra-precision machining. This paper proposes a new positioning system which can give excellent dynamic characteristics and reduce errors in horizontal, vertical, pitching, and yawing motions. In this paper, we suggest a connecting mechanism (the couplings) to reduce motion errors such as chatter and runout while preserving the positioning accuracy. We verified the good performance in the new connecting systems with various coupling types, which we classified into the fixed type, the spring type, the aeroctatic-nozzle type, and the aeroctatic-porous type according to the way of reducing the chatter and error.

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Development for Scanning Type Stage Driven by Linear Motors (리니어모터를 이용한 고속 저중심 스테이지의 개발과 정밀도 향상)

  • 송창규;김정식;김경호;박천홍
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • 2004.04a
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    • pp.445-448
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    • 2004
  • Linear motor is very rapidly substituted for rotary motor and ball screw for precision positioning applications because of its characteristics such as high speed, no backlash and simplicities. A precision positioning system which is composed of linear motion(LM) guide and linear motor is widely used since it has easy controllable property but this system has low accuracy problem caused by friction of the LM guide. In this study, a scanning type XY stage is manufactured and some experiments is performed to improve the accuracy of the stage.

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Position Control of Sliding Mode Control Systems with Compensation of Estimated Coulomb friction (추정된 쿨롱 마찰을 보상한 슬라이딩 모드 제어 시스템의 위치제어)

  • 김한메;최정주;이영진;김종식
    • Journal of the Korean Society for Precision Engineering
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    • v.21 no.2
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    • pp.35-42
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    • 2004
  • The control systems with friction cause the steady state error and slow response, because friction is a sensitive to the change of system condition and has highly nonlinear characteristics. To overcome these problems and do precise position control for a ball-screw system, we use Coulomb friction estimator and the sliding mode control(SMC) to compensate its negative effect. The applied SMC for tracking position has a characteristics of robust stability and reducing chattering, and is derived from the Lyapunov stability theorem and reaching condition. Compensating the estimated friction torque to the bounded disturbance term of the SMC's equivalent control input, it has a tracking performance better than the PID from the experimental results.

A Experiment of the damping effect for Electromagnetic Damper using DC Motor and Ballscrew (DC Motor와 Ballscrew를 이용한 Electromagnetic Damper Damping 효과 실험)

  • Kang, Jeong-Ho;Lee, Hac-Choel;Jeong, Young-Suk
    • Proceedings of the KIPE Conference
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    • 2008.06a
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    • pp.124-126
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    • 2008
  • In this Paper, the modeling of the electromagnetic damper for automobile suspension is presented and the validation of the model is demonstrated by experiments. An electromagnetic damper, composed of a rotary DC motor, and a ball screw and nut. The damper then operates as a linear electric actuator. The damper then operate as a linear electric actuator. The results indicate the proposed system is feasible and it is proved that the electromagnetic damper has better than oil damper of passive control system.

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Development of Hip Joint Simulator to Evaluate The Wear of Biomaterials Used in Total Hip Joint Replacement (인공고관절 생체재료 마멸평가를 위한 시뮬레이터 개발)

  • 이권용;윤재웅;전승범;박성길
    • Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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    • 2001.06a
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    • pp.265-270
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    • 2001
  • Hip joint simulator which Is an essential device for evaluating the wear of biomaterials (ultrahigh molecular weight polyethylene, Co-Cr alloy, alumina, etc.) used in total hip joint replacement was developed. This hip joint simulator mimics the joint motion and joint loading of human gait by adapting the 4 degree of freedom in kinematic motion (flexing/extension, adduction/abduction, Internal rotation/external rotation) and axial loading, Four stations are operated by 8 servo-motors and harmony drives. Joint leading was imposed by displacement control from a ball screw, LM guide, and spring system. Each kinematic link system operates separately or coupled modes. A heater and a thermocouple were installed for keeping the body temperature in each station.

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An experimental study on the generative elements of feed errors in CNC cylindrical grinding machine (CNC 원통연삭기 이송오차의 발생요인에 관한 실험적 연구)

  • Ko, Hai-Ju;Jung, Yoon-Gyo
    • Journal of the Korean Society for Precision Engineering
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    • v.10 no.1
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    • pp.62-69
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    • 1993
  • The accuracy of machine tools is the major factor concerned with the acuracy of the processed work. The feed errors of feed system in machine tool, therfore, make the machining errors of work directly on processing. In this point, this study focused on the generative elements of feed errors in CNC cylindrical grinding machine, such as supporting method of ball screw, the effect of pitch and yaw error and the position detecting method in servo system when operating its shaft of grinding wheel head. Furthermore, in order to improve the driving accuracy of this machine tool, feed errors are measured by a laser interferometer. Results obtained in this study provide some useful informations to attain high accuracy of CNC machine tool.

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A Feasible Approach for the Unified PID Position Controller Including Zero-Phase Error Tracking Performance for Direct Drive Rotation Motor

  • Kim, Joohn-Sheok
    • Journal of Power Electronics
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    • v.9 no.1
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    • pp.74-84
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    • 2009
  • The design and implementation of a high performance PID (Proportional Integral & Differential) style controller with zero-phase error tracking property is considered in this article. Unlike a ball screw driven system, the controller in a direct drive system should provide a high level of tracking performance while avoiding the problems due to the absence of the gear system. The stiff mechanical element in a direct drive system allows high precise positioning capability, but relatively high tracking ability with minimal position error is required. In this work, a feasible position controller named 'Unified PID controller' is presented. It will be shown that the function of the closed position loop can be designed into unity gain system in continuous time domain to provide minimal position error. The focus of this work is in two areas. First, easy gain tunable PID position controller without speed control loop is designed in order to construct feasible high performance drive system. Second, a simple but powerful zero phase error tracking strategy using the pre-designed function of the main control loop is presented for minimal tracking error in all operating conditions. Experimental results with a s-curve based position pattern commonly used in industrial field demonstrate the feasibility and effective performance of the approach.

A study on the design and characteristics of kinematics of 6 degree-of-freedom manipulators (6자유도 조작장치의 설계와 기구학적 특성에 관한 연구)

  • Kim, Jeoung-Tae;Kim, Moon-saeng
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.22 no.2
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    • pp.467-475
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    • 1998
  • The Six Degree-of-Freedom manipulators are generally operated by linear actuators which are hydraulic cylinder, pneumatic cylinder, ball-screw. But these actuators are not adequate to have a wide work-space, and furthermore some of them have a self-locking property. Therfore, we have designed a new manipulator which fully overcomes these demerits. The new manipulating system consists of 6 DC-motors to generate operation forces and 6 position transducers to feedback displacement signals. This paper presents an overview of the design and characteristics of 6 Degree-of-Freedom force feedback manipulators for vitual reality implementation. we can operate Six Degree-of-Freedom manipulator with six motors and six potentiometers.

Optimization of the Thermal Behavior of Linear Motors with High Speed and Force [$1^{st}$Paper] (고속$\cdot$대추력 리니어모터의 열특성 최적화 [1])

  • Eun, In-Ung
    • Journal of the Korean Society for Precision Engineering
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    • v.19 no.6
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    • pp.184-191
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    • 2002
  • This paper presents the thermal behavior of a synchronous linear motor with high speed and force. Such a linear motor can successfully replace ball lead screw in machine tools because it has a high velocity, acceleration and good positioning accuracy. On the other hand, low efficiency and high heating up during operation are disadvantage of linear motors. For the application of linear motors to machine tools a water-cooling system is often used. In this research, structure of the linear motor and water cooler is changed to improve the thermal behavior of the linear motor. Some important effects of an integrated cooler, an U-cooler and a thermally symmetrical cooler are presented.