• 한국공작기계학회논문집
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• 제13권2호
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• pp.88-93
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• 2004

The main objective of the research is to Propose an algorithm that to estimate the screwing torque from parameters of DC motor current without using any stain gage and torque cell. The auto screw drive system is divided into two parts, one is the DC motor ind the other is mechanical part in which the friction torque and damping ratio are a function of rotational of spindle electro motive force constant. The torque is estimated from the friction torque. The research is concerned with applying the method to an auto screw drive and the advantages and limitations are also discussed in this paper.

• 로봇학회논문지
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• 제14권4호
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• pp.311-317
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• 2019

Direct teaching is an essential function for collaborative robots for easy use by non-experts. For most robots, direct teaching is implemented only in joint space because the realization of Cartesian space direct teaching, in which the orientation of the end-effector is fixed while teaching, requires a measurement of the end-effector force. Thus, it is limited to the robots that are equipped with an expensive force/torque sensor. This study presents a Cartesian space direct teaching method for torque-controlled collaborative robots without either a force/torque sensor or joint torque sensors. The force exerted to the end-effector is obtained from the external torque which is estimated by the disturbance observer-based approach with the friction model. The friction model and the estimated end-effector force were experimentally verified using the robot equipped with joint torque sensors in order to compare the proposed sensorless approach with the method using torque sensors.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.755-756
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• 2008

• 한국소음진동공학회논문집
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• 제17권7호
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• pp.649-661
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• 2007

Friction-type reinforcing members(FRM) to enhance the resistance to wind loads of a transmission tower through both stiffness strengthening and damping increase are energy dissipation devices that utilize bending deflection of a tower leg. In this paper, the hysteretic behavior of the transmission tower structure with FRMs was experimentally investigated through cyclic loading tests on a half scale substructure model. Firstly, the variation of friction forces and durability of the FRM depending on the type of friction-inducing materials used in the FRM were examined by performing the cyclic loading tests on the FRM. Secondly, cyclic loading tests of a half-scale two-dimensional substructure model of a transmission tower with FRMs were conducted. Test results show that the FRM, of which desired maximum friction force is easily regulated by adjusting the amplitude of the torque applied to the bolts, have stable hysteretic behaviors and it is found that there exists the optimum torque depending on a design load by investigating the amount of energy dissipation of the FRMs according to the increase of torque.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.568-577
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• 2007

Friction-type reinforcing members (FRM) to enhance the resistance to wind loads of a transmission tower through both stiffness strengthening and damping increase are energy dissipation devices that utilize bending deflection of a tower leg. In this paper, the hysteretic behavior of the transmission tower structure with FRMs was experimentally investigated through cyclic loading tests on a half scale substructure model. Firstly, the variation of friction forces and durability of the FRM depending on the type of Friction-inducing materials used in the FRM were examined by performing the cyclic loading tests on the FRM. Secondly, Cyclic loading tests of a half-scale two-dimensional substructure model of a transmission tower with FRMs were conducted. Test results show that the FRM, of which desired maximum friction force is easily regulated by adjusting the amplitude of the torque applied to the bolts, have stable hysteretic behaviors and it is found that there exists the optimum torque depending on a design load by investigating the amount of energy dissipation of the FRMs according to the increase of torque.

• 대한치과교정학회지
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• 제21권3호
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• pp.543-560
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• 1991

Practitioners are aware of the presence of friction between bracket system and archwire during sliding movement of teeth. Clinically a mesiodistally applied force must exceed the frictional force to produce a tooth movement. The objective of this study were to determine, on a dry condition, changes in magnitude of friction with respect to load, 3rd order inclination (Torque), archwire materials and ligature type. Three wire alloys (Stainless Steel, TMA, NiTi) in two wire sizes (.016, .016x, .022 inch) were examined respect to two bracket system (Straight, Standard), and two ligature type (Metal, Plastic ligature) at three levels of load (100g, 150g, 200g). The results were as follows; 1. Frictional resistance was found to increase with increasing load for S.S., TMA, NiTi. 2. The straight bracket system was exhibited more frictional force than standard bracket system for .016x, .022 S.S. tightly ligated metal ligature. But, torque difference did not increase friction for loose metal ligature & plastic ligature. 3. Regardless of the ligature type, torque and load, stainless steel wire sliding against stainless steel exhibited the lowest friction, and TMA sliding against stainless steel exhibited the highest friction. 4. The loose stainless steel ligature generated lower frictional resistance than plastic ligature in all experimental groups. 5. The following factors affected friction in decreasing order; wire material ligature type, and load.

• 한국정밀공학회지
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• 제21권5호
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• pp.99-105
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• 2004

Internet provides the useful method to monitor the current states of the machine tool no matter where a personnel monitors it. In this paper, a monitoring method of the torque of the machine tool's spindle induction motor using interne is suggested. To estimate the torque accurately, spindle driving system of an CNC lathe is divide into two parts, induction motor part and mechanical part attached to the induction motor spindle. Magnetizing current is calculated from the measured 3 phase currents without speed sensor used to estimate the torque generated by an induction motor. In mechanical part of the system, some of the torque is used to overcome friction and remaining torque is used to overcome cutting force. An equation to estimate friction torque is drawn as a function of cutting torque and rotation speed. Graphical programming is used to implement the suggested algorithm. to monitor the torque of an induction motor in real time and to make the estimated torque monitored on client computers. Torque of the spindle induction motor is well monitored on the client computers in about 3% error range under various cutting conditions.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2004년도 추계학술대회 논문집
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• pp.1259-1265
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• 2004

Electro-magnetic clutch which is affected by elements of electric, magnetic and mechanical friction is important that it has a characteristic changes by environmental impact. Expecially, it is equipped in railroad sideway which is bleak external environment. Therefore, this paper investigated affections by temperature changes, which can make out through physical characteristics such as friction torque, minimum slipping torque, rated slipping torque of electro-magnetic dutch.

• 한국자동차공학회논문집
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• 제5권5호
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• pp.9-19
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• 1997

In this paper, the modeling and analysis of dynamic characteristics has been carried out for friction clutches and brakes in an automatic transmission. From the operating oil pressure generated by the valve-body, time delay by check valve and the movement of piston has been examined. Also torque capacity and torque transferred at the clutch is studied. Heat capacity and temperature distribution at the reaction plate of clutch are codeled by time-dependent, nonhomogeneous partial differential equation, and brake torque, brake time, and the amount of heat generated are investigated. It is found that the time delay at the check valve is very short but dominant at the spool.

• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.680-687
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• 2012

One of the frequent problems in the stabilized gimbal system is the rejection of disturbances associated with moving components. Very often such disturbances have non-linear characteristics. In a typical gimbal system, each gimbal and platform are connected by a mutual bearing which induces inevitable friction. Particularly, the non-linear Coulomb friction causes position errors as well as slow responses that lead to unfavorable performance. In this paper, a modified PID controller that is augmented by Coulomb friction estimator is presented. Through constantly estimating the Coulomb friction torque, it is applied to the output of the existing PID controller. The effectiveness of the proposed controller is evaluated through a series of experiments.