• 한국정밀공학회지
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• 제33권9호
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• pp.723-730
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• 2016

This paper presents a cable-driven hydraulic actuator named Cable Rod Hydraulic Actuator (CRHA). The cable actuating system is attractive for designing a compact joint in robotic applications since it can be installed remotely from the joint. Recently, cable rods have been used in pneumatic area for inertia reduction. However, designing cable rods in hydraulics is challenging because it is difficult to achieve flexibility and endurance simultaneously under high pressure conditions. In this paper, the cable rod, which consists of a cable and jacket, is proposed to meet both requirements. To design the CRHA, we determined the design parameters, such as cylinder size, and selected the cable rod's material by friction and leakage test. Finally, comparisons experiments about step and frequency responses with conventional hydraulic actuators were performed to assess feasibility for robotic joints, and the results show that the proposed system has good bandwidth and fast response as robotic joints.

• Structural Engineering and Mechanics
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• 제4권3호
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• pp.330-344
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• 1996

A model of a cable comprising interacting wires with dry friction forces at the interfaces is subjected to a quasi-static cyclic loading. The first cycle of this process, comprising of axial loading, unloading and reloading is investigated analytically. Explicit load-elongation relationships are obtained for all of the above phases of the cycle. An expression for the hysteretic losses is also obtained in an explicit form. It is shown that losses are proportional to the third power of the amplitude of the oscillating axial force, and are in inverse proportion to the interwire friction forces. The results obtained are used to introduce a model of a cable as a solid rod with an equivalent stiffness and damping properties of the rod material. It is shown that the stiffness of the equivalent rod is weakly nonlinear, whereas the viscous damping coefficient is proportional to the amplitude of the oscillation. Some numerical results illustrating the effect of cable parameters on the losses are given.

• 대한전기학회논문지
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• 제38권8호
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• pp.650-657
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• 1989

The conversion efficiency of an ozone generator can be significantly improved by modifying the discharge electrode of a helical strip line rod-to-cylinder type ozone generator to a pyramid-project-embossed rod, and by using a pulse corona discharge. Parametric studies have been carried out to obtain optimum values of peak pulse voltage, pulse forming capacitance, feeder cable and ozone generator capacitance, interelectrode spacing and corona tip density of ozone generator, and feed air flow rate and temperature. The generated ozone concentration was very dependent upon the value of pulse forming capacitance, feeder cable and ozone generator capacitance, and corona tip density. Maximum conversion efficiency was obtained with a pulse forming capacitance of about 500pF, 75pF matched feeder cable and ozone generator, and a corona tip density of 16mm. When operated at optimum values, ozone yield of 79, 99, 80 g/KWh for the different interelectrode type ozone generators tested were obtained, which are approximately 30% higher than that of an industrial ozone generator.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.393-398
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• 2001

This paper aims to work process of connecting rod die using CAD/CAM/CNC systems. CAD/CAM/CNC systems are consist of CAD(MDT4.0), CAM(Z-MASTER) software and CNC milling machine. CAM software is purpose to G-code generation for CNC programming. Then CAM software and CNC milling machine are connect to RS-232-C cable for data network.

• 한국공간구조학회논문집
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• 제2권3호
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• pp.81-92
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• 2002

The objective of this paper is to help to make decision of the appropriate structural types in long span structured building due to range of span. For the intention, based on 7 forces of structural element, it is analized the relationships among 6 configurations of structural element(d/1), 25 structural types, 4 materials, and span-length known with 186 sample from 1850 to 1996. 1) bending forces: $club(1/100{\sim}1/10),\;plate(1/100{\sim}1/10),\;rahmen(steel,\;10{\sim}24m)\;simple\;beam(PC,\;10{\sim}35m)$ 2) shearing forces: $shell(1/100{\sim}1/1000)\;hyperbolic\;paraboloids(RC,25{\sim}97m)$ 3) shearing+bending forces: plate, folded $plate(RC21{\sim}59m)$ 4) compression axial forces: club, $arch(RC,\;32{\sim}65m)$ 5) compression+tension forces: shell, braced dome $shell(RC,\;40{\sim}201m),\;vault\;shell(RC,\;16{\sim}103m)$ 6) compression+tension axial forces: $rod(1/1000{\sim}1/100)$, cable(below 1/1000)+rod, coble+rod+membrane(below 1/1000), planar $truss(steel,\;31{\sim}134m),\;arch\;truss(31{\sim}135m),\;horizontal\;spaceframe(29{\sim}10\;8m),\;portal\;frame(39{\sim}55m),\;domical\;space\;truss(44{\sim}222m),\;framed\;\;membrane(45{\sim}110m),\;hybrid\;\;membrane\;(42{\sim}256m)$ 7) tension forces: cable, membrane, $suspension(60{\sim}150m),\;cable\;\;beam(40{\sim}130m),\;tensile\;membrane(42{\sim}136m),\;cable\;-slayed(25{\sim}90m),\;suspension\;membrane(24{\sim}97m),\;single\;layer\;pneumatic\;structure(45{\sim}231m),\;double\;layer\;pneumatic\;structures(30{\sim}44m)$

• 전기학회논문지
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• 제65권11호
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• pp.1848-1853
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• 2016

Control Rod Position Indicator in nuclear reactor vessel has developed for small reactor in Korea. Because of severe environment in reactor vessel, target of this study is to develop the suitable position indicator. In this study, solenoid type position indicator made of Mineral Insulated Cable(MI Cable) was introduced to adapt in severe environment. And inductance of the solenoid was used to indicate the rod position for high precision. But problem of this concept is that a linear slope of inductance is changed by temperature effect. To resolve this problem, two sensing coils were introduced for temperature compensation. A role of the sensing coil is to make reference linear equation about certain temperature. To confirm this concept, also, inductance of solenoid and sensing coils were measured at room and high temperature (${\sim}300^{\circ}C$). The results of measurement show that the position error of sensing coil between room and high temperature was about 2%. But it was identified that this error was resulted from insufficient test environment (temperature error between solenoid and sensing coils was about 2% at high temperature condition). Therefore, solenoid type position indicator shows that it is very suitable in reactor vessel as a high precision rod position indicator.

• Smart Structures and Systems
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• 제23권6호
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• pp.579-587
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• 2019

In this paper, pounding tuned mass dampers (PTMDs) were designed to mitigate the multi-mode vortex-induced vibration (VIV) of stay cable utilizing the viscous-elastic material's energy-dissipated ability. The PTMD device consists of a cantilever metal rod beam, a metal mass block and a specially designed damping element covered with viscous-elastic material layer. Wind-tunnel experiment on VIV of stay cable model was set up to validate the effectiveness of the PTMD on multi-mode VIV mitigation of stay cable. By analyzing and comparing testing results of all testing cases, it could be verified that the PTMD with viscous-elastic pounding boundary can obviously mitigate the VIV amplitude of the stay cable. Moreover, the installed location and the design parameters of the PTMD device based on the controlled modes of the primary stay cable, would have a certain extent suppression on the other modal vibration of the stay cable, which means that the designed PTMDs are effective among a large band of frequency for the multi-mode VIV control of the stay cable.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 C
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• pp.1499-1501
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• 1994

This paper studies on the outdoor field test facilities which are established for weather-resist and mechanical-resist property teat of composite insulator. We have established measuring and data acquisition system for various test conditions -leakage current, temperature, humidity, wind direction, wind velocity and rainfall. The merry-go-round test and salt fog test have been studied in order to evaluate non tracking property of rubber material. Especially we have checked the relationship between hydrophobicity and outdoor exposure degree by contact angle measurement.

• 한국산학기술학회논문지
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• 제2권2호
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• pp.39-43
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• 2001

본 논문에서는 자동차용 부품인 커넥팅 로드를 제작할 수 있는 금형제작시 생산성 향상을 위해서 CAD/CAM 시스템을 적용하였다. 사용된 CAD 소프트웨어는 MDT4.0. CAM 소프트웨어는 Z-MASTER이며 생성된 NC코드는 CNC 밀링머신에 전송되어 커렉팅 로드 금형을 자동가공 한다.

• Nuclear Engineering and Technology
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• 제56권2호
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• pp.498-505
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• 2024

In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.