• 대한기계학회논문집A
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• 제33권9호
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• pp.982-989
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• 2009

Parallel Kinematic Mechanism (PKM) is a device to perform the various motion in three-dimensional space and it calls for six degree of freedom. For example, Parallel Kinematic Mechanism is applied to machine tools, medical equipments, MEMS, virtual reality devices and flight motion simulators. Recently, many companies have tried to develop new Parallel Kinematic Mechanism in order to improve the cycle time and the precisional tolerance. Parallel Kinematic Mechanism uses general universal joint and spherical joint, but such joints have accumulated tolerance problems. Therefore, it causes position control problem and dramatically life time reduction. This paper focused on the rolling element to improve sliding precision in new sliding ball joint development. Before the final design and production, it was confirmed that new sliding ball joint held a higher load and a good geometrical structure. FEM analysis showed a favorable agreement with tensile and compressive testing results by universal testing machine. In conclusions, a new sliding ball joint has been developed to solve a problem of accumulated tolerance and verified using tensile and compressive testing as well as FEM analysis.

• 대한기계학회논문집A
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• 제29권8호
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• pp.1123-1131
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• 2005

In this paper, a formulation for a spatial sliding joint, which a general multibody can move along a very flexible cable, is derived using absolute nodal coordinates and non-generalized coordinate. The large deformable motion of a spatial cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. And the non-generalized coordinate, which is neither related to the inertia forces nor external forces, is used to describe an arbitrary position along the centerline of a very flexible cable. In the constraint equation for the sliding joint, since three constraint equations are imposed and one non-generalized coordinate is introduced, one constraint equation is systematically eliminated. Therefore, there are two independent Lagrange multipliers in the final system equations of motion associated with the sliding joint. The development of this sliding joint is important to analyze many mechanical systems such as pulley systems and pantograph/catenary systems for high speed-trains.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1286-1293
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• 2008

This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.

• 한국안전학회지
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• 제31권5호
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• pp.89-94
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• 2016

The objective of this study was to estimate the dynamic behavior of a personal rapid transit(PRT) track system using a rail of rectangular tube section and a rail joint of sliding type, and to compare the results with the normal rail and rail joint of a PRT track system by performing field measurements using actual vehicles running along the service lines. The measured vertical displacement of rail and sleeper, and vertical acceleration of rail for the normal rail and rail joint section were found to be similar, and the rail joint of sliding type satisfied the design specifications of the track impact factor for a conventional railway track. The experimental results showed that the overall dynamic response of the rail joint were found to be similar to or less than that of the normal rail, therefore the rail joint of sliding type for PRT track system was sufficient to ensure a stability and safety of PRT track system.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2000년도 봄 학술발표회 논문집
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• pp.457-464
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• 2000

Stereographic method is a general and basic method to analyse sliding failure potential of rock slope. Region of failure analysis using stereographic method extend to curved slope from straight slope in this paper, Curved slope is defined as the multi-face slope with free surface more than two face and has different characteristics from straight single face slope. Individual daylight envelopes of free surfaces are combined into total daylight envelope of multi-face slope. So, sliding envelope of multi-face slope is the daylight envelope except friction cone. Specially, If only single joint set is developed in the slope, single plane sliding(or plane failure) is impossible in the single-face straight slope, but possible in the multi-face slope. In the multi-face slope with only one joint set, single plane sliding occurs when orientation of sliding plane is between two side slope orientation in the sliding envelope.

• 지질공학
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• 제34권2호
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• pp.317-327
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• 2024

대규모 암반 사면에서 비연속성의 절리계가 발달할 때, 계단상 활동면에 의한 사면 파괴가 발생할 수 있다. 계단상 활동면은 절리-절리 활동면 또는 절리-암교 활동면으로 구분할 수 있으며, 절리-암교 활동면에서 암교는 절리와 평행한 전단 저항과 절리에 수직인 인장 저항을 제공한다. 계단 경로 파괴는 활동 암괴의 하중에 의해 암교의 파괴가 발생하여 암교 양단의 두 절리가 연결되며 발생한다. 암교의 길이가 동일하다면 암석의 인장강도가 전단강도에 비해 낮으므로 절리에 수직으로 형성된 암교가 파괴에 취약하며, 불연속면 간격/길이의 비가 작을수록 계단 경로 파괴의 가능성이 커진다. 비연속성의 절리가 발달하는 암반 사면의 계단상 활동 파괴 위험에 대한 평가를 위해서는 체계적인 불연속면 조사 및 분석을 통해 계단 경로 파괴면을 구성하여 한계 평형 해석 또는 수치 해석 등의 안정성 평가를 수행하여야 한다.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2000년도 제31회 춘계학술대회
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• pp.42-47
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• 2000

The friction and lubrication characteristics of joint cartilage were investigated using the metatarso-phalangeal joint cartilage of rabbit against rotating stainless steel disk. Friction tests were conducted by dry and bovine serum lubricated sliding at room and body temperatures. For the dry sliding tests, low friction coefficient of 0.1-0.15 was observed at the early period of test, and then the friction coefficient increased as a test continued. With increasing applied load the early period of low friction lengthens. For the lubricated sliding tests, the coefficient of friction decreased as the applied load increased. And also the coefficient of friction decreased continuously to 0.07 as the test duration increases. These results can be interpreted that the squeeze or weeping lubrication mechanism dominates the friction and lubrication characteristics in the joint cartilage of rabbit.

• Tribology and Lubricants
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• 제17권4호
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• pp.307-311
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• 2001

The friction and lubrication characteristics of joint cartilage were investigated using the metatarso-phalangeal joint cartilage of rabbit against rotating stainless steel disk. Friction tests were conducted by dry and bovine serum lubricated sliding at room and body temperatures. For the dry sliding tests, low friction coefficient of 0.1-0.15 was observed at the early period of test, and then the friction coefficient increased as a test continued. With increasing applied load the early period of low friction lengthens. For the lubricated sliding tests, the coefficient of friction decreased as the applied load increased. And also the coefficient of friction decreased continuously to 0.07 as the test duration increases. These results can be interpreted that the squeeze or weeping lubrication mechanism dominates the friction and lubrication characteristics in the joint cartilage of rabbit.

• 한국정밀공학회지
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• 제20권3호
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• pp.125-132
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• 2003

The joint method and characteristics of MC nylon and metal are analyzed. Considering the productivity and economics, two materials are joined with the process of turning, knurling, and induction heating. The joint strength is determined by adhesion of the melted nylon, the size of knurl, and the interference from the difference of the diameters. The adhesion strength of the melted nylon is measured. The effects of the knurl size and diameter difference are analyzed with the statistical methods. Finally the joint strength is analyzed in the environments of low, room, and high temperature. Based on this study, the nylon/metal material is expected to be widely used as the sliding machine elements with good lubrication and strength properties.

• 한국소음진동공학회논문집
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• 제14권2호
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• pp.150-156
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• 2004

In this paper, the dynamic behavior of a very flexible cable due to moving multibody system along its length is presented. The very deformable motion of a cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. Formulation for the sliding joint between a very flexible beam and a rigid body is derived. In order to formulate the constraint equations of this joint, a non-generalized coordinate, which has no inertia or forces associated with this coordinate, is used. The modeling of this sliding joint is very important to many mechanical applications such as the ski lifts. cable cars, and pulley systems. A multibody system moves along an elastic cable using this sliding joint. A numerical example is shownusing the developed analysis program for flexible multibody systems that include a large deformable cable.