• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1097-1102
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• 2007

This paper describes the development of 6-axis force/moment sensor for an intelligent robot's foot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to a humanoid robot's foot(ankle). They in the published paper already have some disadvantage in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to be gotten similar the rated output under each rated load. So, the sensing elements of the 6-axis force/moment sensor should get lots of design variables. Also, the size of 6- axis force/moment sensor is very important for mounting to robot's foot. In this paper, a 6-axis force/moment sensor for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using FEM (Finite Element Method) analysis. Then, the 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.4
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• pp.16-23
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• 2021

Currently, 6-axis articulated robots are used throughout the industry because of their 6-dof (degrees of freedom) and usability. However, 6-axis articulated robots have a fixed base and their movements are limited by the rotational operating range of each axis. If the angle of the 2-axis additional axes can be adjusted according to the position and orientation of the end-effector of the 6-axis articulated robot, the effectiveness of the 6-axis articulated robot can be further increased in areas where the angle is important, such as welding. Therefore, in this paper, we proposed a cooperative kinematic inter-operation strategy. The strategy will be verified using the Simulink of MATLABⓇ, an engineering program, and RecurdynⓇ, a dynamic simulation program.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.3
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• pp.53-58
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• 2006

This study deals with the method of post-processing in the automatic tool path generation for 5-axis NC machining. The 5-axis NC machining cannot only cope with the manufacturing of complicated shapes, but also offers numerous advantages such as reasonable tool employment, great reduction of set-up process and so on. Thus 5-axis NC machining has been used for aircraft parts, mold and die as well as for complicated shapes such as impeller, propeller and rotor. However, most of the present CAM systems for 5-axis NC machining have limited functions in terms of tool collision, machine limits and post-processing. Especially 5-axis machine configurations are various according to the method which the rotational axes are adapted with the table and spindle. For that reason, In many cases the optimal numerical control (NC) data cannot be obtained or considerable time is consumed. To solve this problem, we applied a general post-processor for 5-axis NC machining. The validity of this post-processor should be experimentally confirmed by successfully milling to a helix shaped workpiece.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.370-374
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• 2005

This study deals with the method of post-processing in the automatic tool path generation for 5-axis NC machining. The 5-axis NC machining cannot only cope with the manufacturing of complicated shapes, but also offers numerous advantages such as reasonable tool employment, great reduction of set-up process and so on. Thus 5-axis NC machining has been used fur aircraft parts, mold and die as well as for complicated shapes such as impeller, propeller and rotor. However, most of the present CAM systems for 5-axis NC machining have limited functions in terms of tool collision, machine limits and post-processing. Especially 5-axis machine configurations are various according to the method which the rotational axes are adapted with the table and spindle. For that reason, in many cases the optimal numerical control (NC) data cannot be obtained or considerable time is consumed. To solve this problem, we applied a general post-processor fur 5-axis NC machining. The validity of this post-processor should be experimentally confirmed by successfully milling to a helix shaped workpiece.

• Korean Journal of Materials Research
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• v.26 no.12
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• pp.676-680
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• 2016

We have investigated the properties of thin film transistors(TFT) fabricated using zinc tin oxide(ZTO) thin films deposited via on-axis sputtering and FTS methods. ZTO thin films deposited by FTS showed lower root-mean-square(RMS) roughness and more uniformity than those deposited via on-axis sputtering. We observed enhanced electrical properties of ZTO TFT deposited via FTS. The ZTO films were deposited at room temperature via on-axis sputtering and FTS. The as-deposited ZTO films were annealed at $400^{\circ}C$. The TFT using the ZTO films deposited via FTS process exhibited a high mobility of $12.91cm^2/V.s$, a low swing of 0.80 V/decade, $V_{th}$ of 5.78 V, and a high $I_{on/off}$ ratio of $2.52{\times}10^6$.

• Kyungpook Mathematical Journal
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• v.61 no.3
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• pp.461-472
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• 2021

We study a new ring property called axis-commutativity. Axis-commutative rings are seated between commutative rings and duo rings and are a generalization of division rings. We investigate the basic structure and several extensions of axis-commutative rings.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.12
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• pp.1313-1320
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• 2013

An ultraprecision multi-axis machine tool has been designed and developed in our laboratory. The machine tool has four moving axes which are composed of three linear axes and one rotational axis. It has a gantry type structure and the Z-axis is on the X-axis and the C-axis, on which a workpiece is located, is inside the Y-axis. This paper shows control performance improving method and procedure for the ultra-precision positioning control of a hydrostatic bearing guided linear axis. Through improvements of electrical and mechanical components for the control system such as control electronics and oil pumping systems, the control disturbing noise is decreased. Also by the frequency domain analysis of control system those problem-making system components are identified and modified with analytical methods. The controller is analyzed and designed from frequency domain data and system information. In the experimental control results the nanometer order control result is successfully presented.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.7
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• pp.643-651
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• 2015

Multi-axis magnetic and accelerometer sensor are widely used in consumer product such as smart phones. The vector output of multi-axis sensors have errors on each axis such as offset error, scale error, non-orthogonality. These errors cause many problems on the performance of the applications. In this paper, we designed the effective inline compensation algorithm for calibrating of 3 axis sensors using ellipsoid for mass production of multi-axis sensors. The outputs with those kinds of errors can be modeled by ellipsoid, and the proposed algorithm makes sequential mappings of the virtual ellipsoid to perfect sphere which is calibrated function of the sensor on three-dimensional space. The proposed calibrating process composed of four main stages and is very straightforward and effective. In addition, another imperfection of the sensor such as the drift from temperature can be easily inserted in each mapping stage. Numerical simulation and experimental results shows great performance of the proposed compensation algorithm.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.4
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• pp.99-105
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• 2014

The domestic airline industry undertakes the production of finished products by assembling existing self-described components via a design process which involves assembly and production steps, after which many of the finished products are exported. However, high reliability and stability must be guaranteed, because customers require high-precision components at the time of manufacturing. In the aircraft parts industry, the mass production of high-value-added parts is limited. Therefore, a small production scale depending on the part is used, as many types of conventional CNC lathe machines with X-axis and Z-axis as well as Z-axis and C-axis CNC milling are used. The parts also rely on high-pressure air to increase production. The most important factors are good stability during processing, as high-precision parts are required, as noted above. It was found that as the C-axis rotation speed increased, the diameter of the cutting tool decreased with a decrease in the surface roughness, while the workpiece rotation speed increased with an increase in the surface roughness.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.30 no.6 s.249
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• pp.678-683
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• 2006

In this paper, the 5-axis tool path that has been generated from the original surface is, newly generated from the offset polyhedral mesh. In this approach, the interference check between two solid models can be simplified to that of offset polyhedral mesh and axis line. The tool path computation and interference check based on the offset mesh is simpler and faster than that based on the original surface. But 5-axis tool path generation using this approach is able to apply only for ball endmill and still takes longer time than 3-axis tool path generation.