• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 춘계학술대회 논문집
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• pp.175-180
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• 1993

The nonlinear integro-differential equations of motion of a two-link structurally flexible planar manipulator executing contact tasks are presented. The equations of motion are derived using the extended Hamilton's principle and the Galerkin criterion. Also, Models for the wrist-force sensor and impact that occurs when the manipulator's end point makes contact withthe environment are presented. The dynamic models presented can be used to studythe dynamics of the system and to design controllers.

• 접착 및 계면
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• 제23권3호
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• pp.87-93
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• 2022

섬유와 기지 간 계면 특성을 분석하기 위해 일반적으로 접촉각을 활용하여 계산된 접착일을 활용한다. 접촉각 측정 방식으로 동적접촉각과 정적접촉각이 있으며, 본 논문에서는 보다 정확도가 높은 접촉각 측정 방법이 무엇인지 모색하였다. 각각 4가지 종류의 에폭시 수지와 유리섬유를 사용하였고, 유리섬유와 에폭시의 표면 에너지 결과를 기반으로 접착일, W_a을 계산하여 계면강도를 예측하였다. 접착일과 계면 전단강도는 이론상 비례관계이며, 이를 확인하기 위해 조성이 다른 에폭시와 유리섬유 간의 계면강도를 마이크로드롭렛 시험법을 이용하여 측정하였다. 정적접촉각 결과의 경우 접착일과 계면 전단강도 사이에는 일치하지 않는 경향을 보였다. 이는, 동적 접촉각 평가 방법은 정적접촉각에 비해, 드롭 크기에 따른 최소 표면적을 이루는 에러와 미니스커서에서 접선 측정에 따른 에러를 최소화할 수 있다는 점이다.

• 한국산학기술학회논문지
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• 제19권11호
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• pp.350-356
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• 2018

팬터그래프(Pantograph)와 전차선간의 동적 상호작용인 접촉력(contact force)은 차량에 대한 안정적 전원공급 특성인 집전성능을 평가하는 중요한 지표이다. 본 연구에서는 동력분산형 고속열차 시험차량인 HEMU-430X(High-speed Electric Multiple Unit - 430km/h eXperiment) 차량의 팬터그래프 동적 접촉력 특성을 전차선 장력에 따라 분석하였고, 이를 팬터그래프-전차선 동적 상호작용 모델을 이용한 해석결과와 비교하였다. 시험결과와 해석결과를 비교한 결과, 주요 동적접촉력 특성인 평균접촉력 및 접촉력 표준편차가 비교적 잘 일치하는 것을 확인하였다. 또한 해석모델을 이용하여 전차선 장력과 접촉력과의 상관관계를 차량 운행속도에 따라 제시하였으며, 이를 이용하여 각 운영속도별 최적 전차선 장력을 제시하였고 이를 국제규격과 비교하였다. 그 결과 해석을 통해 도출된 결과와 국제 규격에서 권장하는 전차선 장력이 비교적 잘 일치하는 것을 알 수 있었다.

• 전기학회논문지P
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• 제58권4호
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• pp.427-431
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• 2009

In this study, the dynamic characteristic of a contact wire and pantograph suppling electrical power to high-speed trains are investigated from an electrical response point of view. To analysis power line disturbance by induced contact loss phenomenon for high speed operation, a hardware Simulator which considered contact loss between contact wire and the pantograph as well as contact wire deviation is developed. It is confirmed that a contact wire and pantograph model are necessary for studying the dynamic behavior of the pantograph system. One of the most important needs accompanied by increasing the speed of high-speed train is reduced that an arc phenomenon by loss of contact brings out EMI. In case of a high-speed train using electrical power, as comparison with diesel rolling stock, PLD(Power Line Disturbance) such as harmonic, transient voltage and current, EMI(Electromagnetic Interference), dummy signal injection etc usually occurs. Throughout experiment, it is verified that an arc phenomenon is brought out for simulator operation and consequently conducted noise is flowed in electric circuit by power line disturbance.

• 한국신뢰성학회:학술대회논문집
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• 한국신뢰성학회 2011년도 춘계학술발표대회 논문집
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• pp.107-113
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• 2011

The windshield wiper consists of 4 parts: a blade, an arm, a linkage and a motor. The wiper blade makes contact with the windshield and is designed to be operated normally at an angle of 30~50 degrees to the front glass. If the contact pressure between the wiper blade and windshield surface is too high, noise and wear of the rubber will result. On the other hand, if the contact pressure is too low, the performance will do badly, since foreign substances such as dust and stains will not be removed well. The pressure and friction of the wiper blade has a great influence on its effectiveness in cleaning the front window. This is due to the contact of the rubber with the window. This paper presents the dynamic analysis method to estimate the performance of the flat type blade of the wiper system. The blade has a nonlinear characteristic since the rubber is an incompressible hyper-elastic and visco-elastic material. Thus, Structural dynamic analysis using a complex contact model for the blade is performed to find the characteristics of the blade. The flexible multi-body dynamic model is verified by the comparison between test and analysis result. Also, the optimization using the central composite design table is performed.

• 한국정밀공학회지
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• 제29권6호
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• pp.671-679
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• 2012

This paper presents an estimation procedure for axial displacement in spindle equipped with angular contact ball bearings due to rotational speed. High-speed spindle-bearing system experiences axial displacement due to thermal expansion and rotational speed-dependent characteristics of angular contact ball bearings. This paper deals with the axial displacement caused by the rotational speed-dependent effects such as centrifugal force and gyroscopic moments. To this end, a bearing dynamic model is established that includes all the static and dynamic properties of angular contact ball bearing. An analytical formula to calculate the axial displacement based on contact angles between ball and races is derived to discuss the physics regarding the axial displacement in spindle. The proposed dynamic model is compared with a reference and a commercial program. Numerical examples are presented to show the effects of centrifugal force and gyroscopic moment on the axial displacement. The proposed model is also validated with an experimental result.

• Tribology and Lubricants
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• 제36권5호
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• pp.290-296
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• 2020

When two layers of carbon nanotube (CNT) arrays are loaded to mate, the free ends of individual CNTs come into contact at the interface of the two layers. This leads to a higher contact resistance due to a smaller contact region. However, when the free CNT ends of one array penetrate into the mating array, the contact region increases, effectively lowering the contact resistance. To explore the penetration of mating CNTs, we perform molecular dynamic simulations of a simple unit cell model, incorporating four CNTs in the lower array layer coupled with a single moving CNT on the upper layer. The interaction with neighboring CNTs is modelled by long-range carbon bond order potential (LCBOP I). The model structure is optimized by energy minimization through the conjugate gradient method. A NVT ensemble is used for maintain a room temperature during simulation. The time integration is performed through the velocity-Verlet algorithm. A significant vibrational motion of CNTs is captured when penetration is not available, resulting in a specific vibration mode with a high frequency. Due to this vibrational behavior, the random behaviors of CNT motion for predicting the penetration are confirmed under the specific gap distances between CNTs. Thus, the probability of penetration is examined according to the gap distance between CNTs in the lower array and the aspect ratio of CNTs. The penetration is significantly affected by the vibration mode due to the van der Waals forces between CNTs.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1045-1049
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• 2005

In this paper, the dynamic crawling of a five-bar planar mechanism is investigated. One complete cycle of the crawling selected in this study consists of four different steps, i) sliding at one contact point between the mechanism and the ground, ii) changing its configuration without sliding at two contact points, iii) sliding at the other contact point, and iv) again changing its configuration without sliding at two contact points. In this type of crawling, the crawling mechanism maintains the shape of the parallel structure throughout a complete crawling cycle. The modeling algorithm for serial manipulators proposed by M. Thomas and et al.[1] is employed by introducing imaginary joints and links which represent the contact interfaces between the one end of the mechanism and the ground, while the other end of the mechanism is regarded as an end-effector of the imaginary serial manipulator which treats the reaction force and torque at the contact point as external forces. Then, a complete cycle of dynamic crawling of the mechanism is investigated through various computer simulations. The simulation result show that the stable crawling characteristics of the mechanism could be secured when the proper configurations depending on specified frictional constraints are met.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 춘계학술대회 논문집
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• pp.1336-1341
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• 2011

The pantograph-overhead contact line system is an interface that supplies power to high-speed trains used in many countries including Korea. Due to the fact that power is supplied through direct contact between contact wires and contact strips, wear may occur, increasing the possibility of accidents over periods of time. Therefore, there is a need to establish methods of effectively extracting safety related parameters. In this paper, an image processing based method that calculates and draws graphs of a pantograph's dynamic stagger is proposed. To assess reliability, the results were compared with data collected from conventional maintenance vehicles.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 추계학술대회 논문집 전기설비전문위원
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• pp.72-75
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• 2008

The Electromagnetic Interference(EMI) in railway applications is largely due to doing the power conversion for traction and Auxiliary system on the Highspeed Electric Multiple Unit-400X(HEMU-400X). In order to research on EMI in railway applications, it were included how much the HEMU-400X generates it and it has an effect on the equipments of electric system which resulted from Power Line Disturbance (PLD) phenomenon by the loss of contact during its running. In this study, the dynamic characteristic of a contact wire and pantograph suppling electrical power to high-speed trains are investigated. The analysis of the loss of contact based on Power Simulator program software is performed to develop power line disturbance model suitable for high speed operation. It is confirmed that a contact wire and pantograph model are necessary for studying the dynamic behavior of the pantograph system.