• 제목/요약/키워드: TWIST1

검색결과 295건 처리시간 0.021초

운동학에 기초한 로봇 손가락의 관절구조 평가 및 설계 (Evaluation and Design for Joint Configurations Based on Kinematic Analysis)

  • 황창순
    • 대한기계학회논문집A
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    • 제29권2호
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    • pp.176-187
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    • 2005
  • This paper presents an evaluation of joint configurations of a robotic finger based on kinematic analysis. The evaluation is based on an assumption that the current control methods for the fingers require that the contact state specified by the motion planner be maintained during manipulation. Various finger-joint configurations have been evaluated for different contact motions. In the kinematic analysis, the surface of the manipulated object was represented by B-spline surface and the surface of the finger was represented by cylinders and a half ellipsoid. Three types of contact motion, namely, 1) pure rolling, 2) twist-roiling, and 3) slide-twist-rolling are assumed in this analysis. The finger-joint configuration best suited for manipulative motion is determined by the dimension of manipulation workspace. The evaluation has shown that the human-like fingers are suitable for maintaining twist-rolling and slide-twist-rolling but not for pure rolling. A finger with roll joint at its fingertip link, which is different from human fingers, proved to be better for pure rolling motion because it can accommodate sideway motions of the object. Several kinds of useful finger-joint configurations suited for manipulating objects by fingertip surface are proposed.

1-Step 연사공정 적용 나일론 연사물의 제조 및 특성 연구 (Study on the Preparation and Properties of 1-Step Twisted NylonYarns)

  • 이준영;전재우;박동규;서영호;임영민;오태환
    • 한국염색가공학회지
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    • 제31권4호
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    • pp.332-340
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    • 2019
  • Due to the change in lifestyle, new sensible materials for sportswear and outdoor are needed. This study is conducted in order to obtain the data for sensible materials through nylon twist process. 1-step nylon twisting machine was used to set the optimum twist process. DSC measurements of twisted nylon yarn showed crystallization temperatures around 170℃ and melting temperatures around 220℃. Nylon 40D/13F DTY and Nylon 50D/48F DTY showed optimal results at 160℃, 1,500 T/M(Turns per meter), and Nylon 70D/68F DTY at 160℃, 1,200 T/M(Turns per meter) after 1-step twist process. Also, Nylon 40D/13F DTY was confirmed to have inter-layer property deviation of ±5 percent.

임플랜트 식립부위 형성시 골조직의 온도변화에 관한 연구 (A STUDY ON THE TEMPERATURE CHANGES OF BONE TISSUES DURING IMPLANT SITE PREPARATION)

  • 김평일;김영수;장경수;김창회
    • 대한치과보철학회지
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    • 제40권1호
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    • pp.1-17
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    • 2002
  • The purpose of this study is to examine the possibility of thermal injury to bone tissues during an implant site preparation under the same condition as a typical clinical practice of $Br{\aa}nemark$ implant system. All the burs for $Br{\aa}nemark$ implant system were studied except the round bur The experiments involved 880 drilling cases : 50 cases for each of the 5 steps of NP, 5 steps of RP, and 7 steps of WP, all including srew tap, and 30 cases of 2mm twist drill. For precision drilling, a precision handpiece restraining system was developed (Eungyong Machinery Co., Korea). The system kept the drill parallel to the drilling path and allowed horizontal adjustment of the drill with as little as $1{\mu}m$ increment. The thermocouple insertion hole. that is 0.9mm in diameter and 8mm in depth, was prepared 0.2mm away from the tapping bur the last drilling step. The temperatures due to countersink, pilot drill, and other drills were measured at the surface of the bone, at the depths of 4mm and 8mm respectively. Countersink drilling temperature was measured by attaching the tip of a thermocouple at the rim of the countersink. To assure temperature measurement at the desired depths, 'bent-thermocouples' with their tips of 4 and 8mm bent at $120^{\circ}$ were used. The profiles of temperature variation were recorded continuously at one second interval using a thermometer with memory function (Fluke Co. U.S.A.) and 0.7mm thermocouples (Omega Co., U.S.A.). To simulate typical clinical conditions, 35mm square samples of bovine scapular bone were utilized. The samples were approximately 20mm thick with the cortical thickness on the drilling side ranging from 1 to 2mm. A sample was placed in a container of saline solution so that its lower half is submerged into the solution and the upper half exposed to the room air, which averaged $24.9^{\circ}C$. The temperature of the saline solution was maintained at $36.5^{\circ}C$ using an electric heater (J. O Tech Co., Korea). This experimental condition was similar to that of a patient s opened mouth. The study revealed that a 2mm twist drill required greatest attention. As a guide drill, a twist drill is required to bore through a 'virgin bone,' rather than merely enlarging an already drilled hole as is the case with other drills. This typically generates greater amount of heat. Furthermore, one tends to apply a greater pressure to overcome drilling difficulty, thus producing even greater amount heat. 150 experiments were conducted for 2mm twist drill. For 140 cases, drill pressure of 750g was sufficient, and 10 cases required additional 500 or 100g of drilling pressure. In case of the former. 3 of the 140 cases produced the temperature greater than $47^{\circ}C$, the threshold temperature of degeneration of bone tissue (1983. Eriksson et al.) which is also the reference temperature in this study. In each of the 10 cases requiring extra pressure, the temperature exceeded the reference temperature. More significantly, a surge of heat was observed in each of these cases This observations led to addtional 20 drilling experiments on dense bones. For 10 of these cases, the pressure of 1,250g was applied. For the other 10, 1.750g were applied. In each of these cases, it was also observed that the temperature rose abruptly far above the thresh old temperature of $47^{\circ}C$, sometimes even to 70 or $80^{\circ}C$. It was also observed that the increased drilling pressure influenced the shortening of drilling time more than the rise of drilling temperature. This suggests the desirability of clinically reconsidering application of extra pressures to prevent possible injury to bone tissues. An analysis of these two extra pressure groups of 1,250g and 1,750g revealed that the t-statistics for reduced amount of drilling time due to extra pressure and increased peak temperature due to the same were 10.80 and 2.08 respectively suggesting that drilling time was more influenced than temperature. All the subsequent drillings after the drilling with a 2mm twist drill did not produce excessive heat, i.e. the heat generation is at the same or below the body temperature level. Some of screw tap, pilot, and countersink showed negative correlation coefficients between the generated heat and the drilling time. indicating the more the drilling time, the lower the temperature. The study also revealed that the drilling time was increased as a function of frequency of the use of the drill. Under the drilling pressure of 750g, it was revealed that the drilling time for an old twist drill that has already drilled 40 times was 4.5 times longer than a new drill The measurement was taken for the first 10 drillings of a new drill and 10 drillings of an old drill that has already been used for 40 drillings. 'Test Statistics' of small samples t-test was 3.49, confirming that the used twist drills require longer drilling time than new ones. On the other hand, it was revealed that there was no significant difference in drilling temperature between the new drill and the old twist drill. Finally, the following conclusions were reached from this study : 1 Used drilling bur causes almost no change in drilling temperature but increase in drilling time through 50 drillings under the manufacturer-recommended cooling conditions and the drilling pressure of 750g. 2. The heat that is generated through drilling mattered only in the case of 2mm twist drills, the first drill to be used in bone drilling process for all the other drills there is no significant problem. 3. If the drilling pressure is increased when a 2mm twist drill reaches a dense bone, the temperature rises abruptly even under the manufacturer-recommended cooling conditions. 4. Drilling heat was the highest at the final moment of the drilling process.

The Combined Tensile and Torsional Behavior of Irregular Fibers

  • He, Weiyu;Wang, Xungai
    • Fibers and Polymers
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    • 제3권1호
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    • pp.31-37
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    • 2002
  • Most fibers are irregular, and they are often subjected to combined loading conditions during processing and enduse. In this paper polyester and wool fibers under the combined tensile and torsional loads have been studied for the first time using the finite element method (FEM). The dimensional irregularities of these fibers are simulated with sine waves of different magnitude and frequency. The breaking load and breaking extension of the fibers at different twist or torsion levels are then calculated from the finite element model. The results indicate that twist and level of fiber irregularity have a major impact on the mechanical properties of the fiber and the effect of the frequency of irregularity is relatively small.

가연조건에 따른 나일론 섬유의 염색특성 (I) - 연신비의 영향 - (Dyeing Properties of Nylon Textured Yarn according to False Twist Texturing Parameters(I) - Effect of Draw Ratio -)

  • 허종태
    • 한국염색가공학회지
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    • 제20권2호
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    • pp.47-52
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    • 2008
  • Nylon textured yarn is usually manufactured by disk type false twist texturing. Dyeing properties of nylon textured yam have not been studied yet. In this study, dyeing properties of nylon textured yam according to draw ratio out of process parameters were investigated. The fact that microstructure of nylon textured yarn in amorphous region particularly is transformed by draw ratio was confirmed indirectly by measurement of dyeing rate because dyeing rate was affected by the structure of amorphous region. Dyeing rate at draw ratio 1.29 was the lowest because the higher draw ratio increase amorphous orientation and disturb dye diffusion into amorphous region. The microstructure according draw ratio was indirectly confirmed by 5% strength, tenacity, elongation. But difference in K/S value and fastness was insignificant.

Investigation of Inter Fiber Cohesion in Yarns. I. Influence of Certain Spinning Parameters on the Cohesion in Cotton Yarns

  • Gokarneshan N.;Ghosh Anindya;Anbumani N.;Subramaniam V.
    • Fibers and Polymers
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    • 제6권4호
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    • pp.336-338
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    • 2005
  • This paper investigates the influence of raw material and process parameters in spinning that affect the inter fiber cohesion in yams. An instrument has been developed for measuring the minimum twist of cohesion. With regard to the raw material parameters, the influence of different cotton fiber mixings for a given count of yarn is investigated. Also the effect of spinning to varying counts for a given cotton variety is studied. With regard to the process parameters, studies have been carried out to investigate the influence of noil extraction in comber, number of draw frame passages, draft pressure in ring frame and direction of twist. Cohesion improved with increase in the noil extraction percentage in the comber. Increase in the number of draw frame passages also improved the cohesion. Draft pressure in ring frame improved the fiber cohesion in yarn up to a pressure of $2.1kg/cm^2$. Direction of twist had no effect on the cohesion.

Twisted Multifilamentary BSCCO 2223 Tapes by Using High Resistive Sheath

  • Yoo, Jai-Moo;Ko, Jae-Woong;Kim, Hai-Doo;Chung, Hyung-Sik
    • Progress in Superconductivity
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    • 제1권2호
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    • pp.141-145
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    • 2000
  • Different twist pitches of multi filamentary BSCCO 2223 tapes using high resistivity sheath were fabricated to investigate the effect of twist pitches on the microstructure and critical current property. A conductor with a high resitstivity matrix is possible to allow larger twist pitch for reducing ac losses and reduce eddy current losses simultaneously. The $J_{ct}$ values of 10 mm and 5 mm twisted tapes drop faster than that of untwisted and 20 mm twisted tapes under increasing magneticfield, especially in low field regime (0 $\sim$ 0.03 T). It suggests that weak links in the former are more serious than in the latter, which is in accordance with the microstructure analysis.

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Super Bulky Yarn의 사가공 조건에 따른 물성변화 (The Physical Properties of Super Bulky Yarn According to Textured Condition)

  • 박명수
    • 한국의류산업학회지
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    • 제12권4호
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    • pp.500-507
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    • 2010
  • In this study, physical properties were studied by using latent stretching yarn in order to develop the texturing yarn technique for super bulky yarn, which is better in bulkiness and handle than natural wool and also adds property of synthetic fiber to natural wool. In order to obtain textured conditions by analysing basic properties for manufacturing DTY yarn with super bulky property, DTY 50d/12 after spinning latent yarn spined POY 80d/12 was obtained under the two conditions of (i) false twist(T/M) level 3 in DTY texturing and (ii) draw ratio level 4 in draw texturing. For DTY texturing yarn, Elongation rate increased as the heat treatment time and temperatures increased. In addition, shrinkage became higher as false twist was higher, so that elongation rate became lower. When annealing became longer in time and higher in temperature, initial modulus increased. In addition, as the count of false twist increased, the initial modulus showed higher values. For draw texturing yarn, under the conditions of heat temperature 180 and heating time 30 minutes, shrinkage rate in draw ratio 1.55 and 1.6 draw ratio was 7%, and that in 1.65 and 1.7 draw ratio was 8.5%. High draw ratio samples' tenacity was much influenced by heating time and temperature, but low draw ratio samples' tenacity was influenced not by treated time, but by treated temperature.

사체의 장골에서 수용부 형성방법에 따른 임플란트 일차 안정성 (PRIMARY STABILITY OF IMPLANTS IN ILIUM OF CADAVER BY THE METHODS OF RECIPIENT SITE PREPARATION)

  • 심정우;조진용;국민석;박홍주;오희균
    • Journal of the Korean Association of Oral and Maxillofacial Surgeons
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    • 제34권2호
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    • pp.180-186
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    • 2008
  • Purpose: This study was performed to evaluate the effect of the implant recipient site preparation methods on primary stability of implants with the instruments of $Osstell^{TM}$ and $Periotest^{(R)}$ in the iliac bone of cadaver. Methods and materials: The 8 iliac bones in 4 cadavers and implants treated with resorbable blasting media (RBM) were used. $Periotest^{(R)}$ (Simens AG, Germany) and $Osstell^{TM}$ (Model 6 Resonance Frequency Analyser: Integration Diagnostics Ltd., Sweden) were used to measure primary stability of implants. Implants were inserted into the iliac crest of the cadaver. In control group, the recipient site was prepared according to the manufacturer's recommendation: 1.8 mm guide drill, 2.0 mm initial drill, 2.7 mm pilot drill, 2.7 mm twist drill, 3.0 mm twist drill, 3.3 mm pilot drill, 3.3 mm twist drill, and 3.3 mm countersink drill as well as tapping drill were used in order. In the group 1, implant recipient sites were prepared by sequentially drilling from 1.8 mm guide drill to 3.0 mm twist drill and then inserted implants without countersinking and tapping. In the group 2, implant recipient sites were prepared to 3.0 mm twist drill and countersink drill and then inserted implants without tapping. In the group 3, the sites were prepared to 3.0 mm twist drill and countersink drill as well as tapping drill. In the group 4, the sites were prepared to 3.3 mm twist drill. In the group 5, the sites were prepared to 3.3 mm twist drill and countersink drill. A total of 60 implants were placed (n=10). The stability was measured using $Osstell^{TM}$ and $Periotest^{(R)}$ mesiodistally and buccolingually. To compare the mean stability of each group statistically, One-way ANOVA was used and correlation of instrument were analyzed using SPSS 12.0. The results obtained were as follows; 1. The stability of group 1 measured using $Osstell^{TM}$ and $Periotest^{(R)}$ buccolingually showed the highest, and there are significant difference statistically between control group and experimental group 1,2,4 in each instruments respectively (p<0.05). 2. The stability of group 1 measured using $Osstell^{TM}$ and $Periotest^{(R)}$ mesiodistally showed the highest. There are significant difference statistically between control group and all experimental groups in $Osstell^{TM}$, and between control group and experimental group 1,2,3,4 (p<0.05). 3. There are high correlation between the measurements of $Osstell^{TM}$ and $Periotest^{(R)}$ (p<0.05). Conclusion: These results indicate that the primary stability of implant can be obtained by the recipient sites preparation with smaller diameter drill than that of implant or minimal drilling.