• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.5
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• pp.1486-1497
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• 1996

The problem of determining the 3-demensional motion of any two rough bodies after a collision involves some rather long analysis and yet in some points it differs essentially from the corresponding problem in tdwo dimensions. We consider a special problem where two rough ellipsolids moving in any manner collide, and analyze the three dimensional impact process with Coulomb friction and Poisson's hypothesis. The differential equations that describe that process of the impact induce a flow in the tangent velocity space, the flow patterns characterize the possible impact cases. By using the graphic method in impulse space and numerical integration thchnique, we analyzed the impact process inall the possible cases and presented the algorithm for determining the post-impact motion. The principles could be applied to the general problem in three dimensions. We verified the effectiveness of the analysis results by simulating the numerous significant examples.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.7 s.238
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• pp.938-946
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• 2005

Friction is a dominant nonlinear factor in servomechanisms, which seriously deteriorates system accuracy. A friction compensator is indispensable to fabricate high-performance servomechanisms. In order to compensate for the friction in the servomechanism, identification of the friction elements is required. To estimate the friction of the servomechanism, an accurate linear element model of the system is required first. Tn this paper, a nonlinear friction model, in which static, coulomb and viscous frictions as well as Stribeck effect are included, is identified through the describing function approximation of the nonlinear element. A nonlinear element composed of two relays is intentionally devised to induce various limit cycle conditions in the velocity control loop of the servomechanism. The friction coefficients are estimated from the intersection points of the linear and nonlinear elements in the complex plane. A Butterworth filter is added to the velocity control loop not only to meet the assumption of the harmonic balance method but also to improve the accuracy of the friction identification process. Validity of the proposed method is confirmed through numerical simulations and experiments. In addition, a model-based friction compensator is applied as a feedforward controller to compensate fur the nonlinear characteristics of the servomechanism and to verify the effectiveness of the proposed identification method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.3
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• pp.222-229
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• 2004

In this paper, the torque of CNC spindle motor during machining is estimated without speed measuring sensor. The CNC spindle system is divided into two parts, the induction spindle motor part and mechanical part. In mechanical part, the variation of the frictional force due to the increment of the cutting torque and the effect of damping coefficient is investigated. Damping coefficient is found to be a function of spindle speed and not influenced by the weight of the load, while frictional force is a function of both the cutting torque and spindle speed. Experimental equations are drawn for damping coefficient and Coulomb friction as a function of spindle speed. Incremental frictional torque Is also obtained as a function of both cutting torque and spindle speed. Graphical programming is used to implement the suggested algorithm to monitor the torque of an induction motor in real time. Torque of the spindle induction motor is estimated well in about average 3% error range under various cutting conditions.

• Tunnel and Underground Space
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• v.27 no.4
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• pp.243-252
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• 2017

Since the failure behavior of transversely isotropic rocks is significantly different from that of isotropic rocks, it is necessary to develop a transversely isotropic rock failure function in order to evaluate the stability of rock structures constructed in transversely isotropic rock masses. In this study, a spatial distribution function for strength parameters of transversely isotropic rocks is proposed, which is based on the Cassini oval curve proposed by 17th century astronomer Giovanni Domenico Cassini to model the orbit of the Sun around the Earth. The proposed distribution function consists of two model parameters which could be identified through triaxial compression tests on transversely isotropic rock samples. The original Mohr-Coulomb (M-C) failure function is extended to a three-dimensional transversely isotropic M-C failure function by employing the proposed strength parameter distribution function for the spatial distributions of the friction angle and cohesion. In order to verify the suitability of the transversely isotropic M-C failure function, both the conventional triaxial compression and true triaxial compression tests of transversely isotropic rock samples are simulated. The predicted results from the numerical experiments are consistent with the failure behavior of transversely isotropic rocks observed in the actual laboratory tests. In addition, the simulated result of true triaxial compression tests hints that the dependence of rock strength on intermediate principal stress may be closely related to the distribution of the microstructures included in the rock samples.

• Tunnel and Underground Space
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• v.15 no.3 s.56
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• pp.223-227
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• 2005

The physical and mechanical properties of volcanic glass, which is distributed in the Samho area, South Korea were studied. Laboratory rock tests were carried out in order to obtain the various properties of rocks. Specific gravity, water content, absorption, porosity and wave velocity were measured for the physical properties. Uniaxial and triaxial compressive tests, Brazilian test and point load test were also performed for the mechanical properties. The tests of volcanic glass revealed that the apparent specific gravity, water content and absorption were 2.28, $1.67\%$ and $1.72\%$, respectively. Porosity $(3.87\%)$ was lower, whereas P-wave velocity (5330m/s) and S-wave velocity (2980 m/s) were relatively higher. Brazilian tensile strength ot 7.2MPa, and point load strength of 2.6MPa were among the mechanical properties of the rock. Uniaxial compressive strength (62.4MPa) estimated ken point load strength was very closed to the value (66.0MPa) from the uniaxial compressive test. Young's modulus and Poisson's ratio were E=43.2 GPa and v=0.28, respectively. Drawing the tangent line to Mohr-Coulomb failure criterion showed the cohesion of 20.1MPa and internal fraction angle of $28.6^{\circ}$.

• Journal of the Korean Geotechnical Society
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• v.31 no.11
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• pp.33-40
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• 2015

Volcanic rocks in Jeju Island indicate the differences in geological and mechanical characteristics from region to region, and have vesicular structure caused by various environmental factors. In this study, triaxial compressive strength tests were conducted for intact rocks sampled in northeastern onshore and offshore, southeastern offshore and northwestern offshore of Jeju Island. The estimated cohesion and internal friction angle from the results of triaxial compression tests were compared and analyzed with absorption, a parameter representing the vesicular properties of basalts in Jeju Island. As a result, it was found that the relationship between cohesion and absorption could be classified clearly, considering two different linear relationships in bulk specific gravity and absorption. As the absorption increases, the cohesion decreases exponentially. In addition, the internal friction angle decreases almost linearly with increasing in the absorption, regardless of the relationships in bulk specific gravity and absorption.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2007.05a
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• pp.394-396
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• 2007

In this study, in order to see effect of the blank holding force on the friction behavior in the sheet metal forming, a sheet metal friction tester is designed and manufactured, which can measure friction forces in various forming conditions, such are lubrication, die roughness, drawing speed, radius of die corner, blank holding force, etc., and performed the friction test in which friction coefficients in various blank holding forces and pulling speeds are calculated using Coulomb's friction law. The friction test reveals that friction coefficient decreases maximum 30% as the blank holding force and the drawing speed are increased to 2.5kN and 1500mm/min, respectively.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.462-470
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• 1999

In this paper, we proposed a cross-couple controller for compensating nonlinear friction of the X-Y table of CNC machines. Due to the nonlinearity of the frictions, large contour errors, referred to as quadrant glitches, occur when each axis of the X-Y table makes a zero velocity crossing. To reduce the quadrant glitches the friction compensators and nonlinear friction observers for estimating Coulomb frictions are employed in the proposed method. A hyperbolic tangent function is used in reducing the magnitude of quadrant glitches and the CEM (Contour Error Model) is utilized for the estimation of the velocities. The performance of the proposed compensators is evaluated for several trajectories by computer simulations.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.2
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• pp.404-412
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• 1991

In the design of high speed machinery, designers must consider the problem of possible structural failure due to excessive dynamically varying stresses, which are induced by the varying external loads and internal inertia forces, in the links of the mechanism. A study of the dynamically induced stresses would indicate what values of the minimum permissible fatigue strength should be for safe mechanism operation. This paper investigates the nature of the stress fluctuation in high speed mechanism on the basis of the effects of both the loads and the friction. The latter is apt to be neglected in the usual analysis in spite of the fact that it is always generated in the operating machinery. The analysis is performed on the coupler of the slider-crank mechanism for illustrative purposes and the results are expressed in a non-dimensional form for design applications.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.538-541
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• 1995

Joint flexibilities and frictional uncertainties are known to be a major cause of performance degration in motion control systems. This paper investigates the modeling and compensation of these undesired effects. A hybrid controller, which consists of a predictive controller and a neural network controller, is designed to overcome these undesired effects. Also learning scheme for friction uncertainies, which don't interfere with feedback controller dynamics, is discussed. Through simulation works with two inetia-torsional spring system having Coulomb friction, the effectiveness of the proposed hybrid controller was tested. The proposed predictive & neural network hybrid controller shows better performance over one when only predictive controller used.