• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.422-422
• /
• 2000

Parallel manipulators have been used to a variety of applications, including the motion simulators and mechanism for precise machining. A Stewart-Gough type parallel manipulator is composed of six linear joints which have wider contact areas than revolute ones, so linear joints are more affected by frictional force. First, the reference trajectories are computed from the model of the parallel manipulator assuming that it is subject to only the gravitational force and no friction exists. In the actual operation where friction exists, the control inputs, which correspond to the friction forces, are obtained by forcing the actual joint variables to follow these trojectories by proper control. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

• 로봇학회논문지
• /
• 제4권4호
• /
• pp.265-272
• /
• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• 한국운동역학회지
• /
• 제15권1호
• /
• pp.259-274
• /
• 2005

The purpose of this study was to compare the kinematic and kinetic parameters of lower extremity joints between novice and experienced sports aerobic dancers during two heights of depth jumps. Four male dancers were participated in this study and they performed 40cm and 60cm height depth jump three times, respectively. Four ProReflex MCU cameras (100frame/sec) and a Kistler force plate (1000Hz) were used for data collection. The results indicated that the duration of contact phase of experienced group was shorter than that of novice group regardless of jump height. For minimum angle of hip, knee, and ankle joints, the novice group had tendency to decrease the angle but the experienced group had increased the joint angle with jump height. There was no difference of total ground reaction force between the groups but the reaction force had tendency to increase with jump height. Thus, this study implied that repetition of jump and landing may induce joint related injury and further study such as. EMG analysis of lower extremity can be needed to verify the relationship between injury and ground reaction force.

• 제어로봇시스템학회논문지
• /
• 제22권12호
• /
• pp.1034-1039
• /
• 2016

This paper presents the implementation and control of a small-scaled excavator system. The commercial miniature of an excavator system has been modified and its control hardware is embedded to access the feedback control. Encoder sensors are attached to the joint and a force sensor is mounted on the end-effector so that feedback position control is accessible as well as force control. The dynamic model of the excavator system is derived as a four linkage robot arm and its control performances are simulated. Experimental studies of contact force control tasks are conducted to test the control algorithm for the excavator system.

• 전기학회논문지
• /
• 제64권1호
• /
• pp.136-142
• /
• 2015

In the paper, a design method of knee and pelvis joint in the biped robot is proposed for shock absorption and gravity compensation. Similarly to the human's body, the knee joints of the biped robot support most body weight and get a shock from the landing motion of the foot on the floor. The torque of joint motor is also increased sharply to keep the balance of the robot. Knee and pelvis joints with the spring are designed to compensate the gravity force and reduce the contact shock of the robot. To verify the efficiency of the proposed design method, we develope a biped robot with the joint mechanism using springs. At first, we experiment with the developed robot on the static motions such as the bent-knee posture both without load and with load on the flat ground, and the balance posture on the incline plane. The current of knee joint is measured to analyze the impact force and energy consumption of the joint motors. Also, we observe the motor current of knee and pelvis joints for the walking motion of the biped robot. The current responses of joint motors show that the proposed method has an effect on shock reduction and gravity compensation, and improve the energy efficiency of walking motions for the biped robot.

• 한국산학기술학회논문지
• /
• 제10권10호
• /
• pp.2831-2836
• /
• 2009

고장력볼트를 이용한 강부재의 연결부에서 마찰력을 초과하는 설계하중이 작용하여 미끄럼이 발생하는 점을 기점으로 볼트와 모재의 전단강도 및 지압강도에 의해 설계하중을 지지하게 된다. 미끄럼량은 볼트의 장력, 접촉면의 마찰계수, 모재구멍내에서 볼트의 위치에 따라 결정되어 질 수 있다. 본 연구에서는 모재 및 덮개판에 대하여 볼트구멍의 크기를 변화시켜 제작된 고장력볼트 체결부에 순수굽힘과 인장력이 작용하는 경우 표준공과 과대공에 따른 미끄럼을 측정하고 비교분석하였다. 표준공을 가지는 경우보다 과대공을 가지는 경우에 $74\sim94%$ 작은 하중에서 미끄럼이 발생하였다. 인장력을 받는 부재에서는 과대공치수가 클수록 미끄럼 하중비가 작게 나타났으며 모재의 과대공치수가 덮개판의 과대공치수보다 미끄럼하중변화와 연관성이 많은 것으로 나타났다.

• 한국기계가공학회지
• /
• 제17권1호
• /
• pp.34-41
• /
• 2018

A flange joint is a pipe connection used to prevent the leakage of high-pressure fluids by inserting a gasket and tightening the bolts. Among several kinds of gaskets available, metal ring type joint gaskets are most widely used in conditions that require high-temperature and high-pressure fluid flow, such as oil pipelines, gas pipes, pumps, valve joints, etc. The purpose of this study is to investigate the contact pressure and stress characteristics closely related to the sealing performance of Class 900 flange joints used in high temperature and high pressure environments. The dimensions of flange joints with five different nominal pipe sizes were determined with reference to those specified in ASME 16.5. The metal ring gaskets inserted in the joints were octagonal and oval gaskets. The bolt tensile forces calculated from the tightening torques were input as the bolt pretension loads in order to determine the contact pressure and stress levels after fastening. Loading was composed of three steps, including the fastening step, and different amounts of applied pressures were used in each analysis to investigate the effect of fluid pressure on the contact force of the joints. A general-purpose software, ANSYS 17.2, was used for the analysis.

• 마이크로전자및패키징학회지
• /
• 제16권3호
• /
• pp.67-73
• /
• 2009

Cu pillar 범프를 사용한 플립칩 접속부는 솔더범프 접속부에 비해 칩과 기판사이의 거리를 감소시키지 않으면서 미세피치 접속이 가능하기 때문에, 특히 기생 캐패시턴스를 억제하기 위해 칩과 기판사이의 큰 거리가 요구되는 RF 패키지에서 유용한 칩 접속공정이다. 본 논문에서는 칩에는 Cu pillar 범프, 기판에는 Sn 범프를 전기도금하고 이들을 플립칩 본딩하여 Cu pillar 범프 접속부를 형성 한 후, Sn 전기도금 범프의 높이에 따른 Cu pillar 범프 접속부의 접속저항과 칩 전단하중을 측정하였다. 전기도금한 Sn 범프의 높이를 5 ${\mu}m$에서 30 ${\mu}m$로 증가시킴에 따라 Cu pillar 범프 접속부의 접속저항이 31.7 $m{\Omega}$에서 13.8 $m{\Omega}$로 향상되었으며, 칩 전단하중이 3.8N에서 6.8N으로 증가하였다. 반면에 접속부의 종횡비는 1.3에서 0.9로 저하하였으며, 접속부의 종횡비, 접속저항 및 칩 전단하중의 변화거동으로부터 Sn 전기도금 범프의 최적 높이는 20 ${\mu}m$로 판단되었다.

• International Journal of Automotive Technology
• /
• 제8권6호
• /
• pp.723-730
• /
• 2007

The typical design of automotive driveshafts generally utilizes Constant Velocity(CV) joints as a solution to NVH. CV joints are an integral part of vehicles and significantly affect steering, suspension, and vehicle vibration comfort levels. Thus, CV joints have been favored over universal joints due to the constant velocity torque transfer and plunging capability. Although CV joints are common in vehicle applications, current research works on modeling CV joint friction and assumes constant empirical friction coefficient values. However, such models are long known to be inaccurate, especially under dynamic conditions, which is the case for CV joints. In this paper, an instrumented advanced CV joint friction apparatus was developed to measure the internal friction behavior of CV joints using actual tripod-type joint assemblies. The setup is capable of measuring key performance of friction under different realistic operating conditions of oscillatory speeds, torque and joint installation angles. The apparatus incorporates a custom-installed triaxial force sensor inside of the joint to measure the internal CV joint forces(including friction). Using the designed test setup, the intrinsic interfacial parameters of CV joints were investigated in order to understand their contact and friction mechanisms. The results provide a better understanding of CV joint friction characteristics in developing improved automotive driveshafts.

• 대한기계학회논문집A
• /
• 제21권6호
• /
• pp.871-883
• /
• 1997

Kinetodynamics of a cam driving slider mechanism consists of kinematic analysis and force analysis. The kinematic analysis is to determine the kinematic characteristics of a cam driving mechanism and a slider mechanism. The force analysis is to determine the joint forces of links, the contact forces of the cam and follower, and the driving torque of a main shaft. This paper proposes a close loop method and a tangent substitution method to formulate the relationships of kinematic chains and to calculate the displacement, velocity and acceleration of the cam driving slider mechanism. Also, and instant velocity center method is proposed to determine the cam shape from the geometric relationships of the cam and the roller follower. For dynamic analysis, the contact force and the driving torque of the cam driving slider mechanism are calculated from the required sliding forces, sliding motion and weight of the slider.