• International Journal of Air-Conditioning and Refrigeration
• /
• v.16 no.4
• /
• pp.124-129
• /
• 2008

Design practice has been made on an oil-less scroll air compressor as an air supply device for a 2 kW fuel cell system where air pressure of 2 bar and flow rate of 120 liter/min are required. Basic structure of the scroll compressor includes double-sided scroll wrap for the orbiting scroll driven by two crankshafts connected to each other by a timing belt. These features can eliminate thrust surface which otherwise would produce frictional heat and jeopardize reliable operation of the orbiting scroll and the scroll element's deformation as well. This study focuses on optimum scroll wrap design; orbiting radius has been chosen as an independent design parameter. As the orbiting radius changes, scroll sizes such as scroll base plate and discharge port diameters change accordingly. Gas compression-related losses and mechanical loss also change with the orbiting radius. With a scroll base plate diameter of 120mm at most and discharge port of at least 10mm, the orbiting radius should be within the range of 2.5-4.0mm. With this range of the orbiting radius, it was estimated by performance analysis that the compressor efficiency reached to a maximum of ${\eta}_c$=96% at the orbiting radius of $r_s$=3.5mm for the scroll wrap height-to-thickness ratio of h/t=5.

• The Journal of Korea Robotics Society
• /
• v.5 no.2
• /
• pp.102-109
• /
• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.

• Journal of Drive and Control
• /
• v.16 no.2
• /
• pp.15-21
• /
• 2019

In this study, the maximum system efficiency of the electro-hydrostatic actuators was experimentally investigated, where small size external gear pumps with volumetric displacement under 1.3 cc/rev were combined with a 400W servomotor as the prime mover. Since the efficiency data of the servomotor, gear pumps and hydraulic cylinder were not provided by the suppliers, experimental apparatuses for their efficiency measurement were extra built up. When a gear pump with a volumetric displacement of 1.27cc/rev was used on an electro-hydrostatic actuator system, the maximum system efficiency was not higher than 70%. This was because the most effective operation ranges of the motor and pump did not coincide each other. In order to match their operation ranges as one of the most crucial design factors, a speed reduction mechanism can be used, such as a timing belt. It was shown in the study that the maximum system efficiency could be increased from 70% to 76% in that way.

• The Journal of the Petrological Society of Korea
• /
• v.21 no.2
• /
• pp.151-171
• /
• 2012

The Permo-Triassic Songrim orogeny in the Korean peninsula was a major tectonic event involving complicated continental collisions at the eastern margin of Eurasia. Based on the previous studies on the metamorphic and deformations features of the Songrim orogeny, this paper presents metamorphic and structural characteristics and timing of the Songrim orogeny in the Taebaeksan basin, and discuss about correlation of the tectono-metamorphic evolution of the Taebaeksan basin with the Okcheon basin and the Imjingang belt with a combined analysis of bulk crustal shortening direction, metamorphic P-T and T-t (time) paths. The metapelites in the Pyeongan Supergroup in the northeastern margin of the Taebaeksan basin have experienced lower-temperature/medium-pressure (LT/MP) regional metamorphism followed by high-temperature contact metamorphism due to the Jurassic granite intrusion. The earlier LT/MP regional metamorphism produced two loops of clockwise P-T-d (deformation) paths combined with four deformation events ($D_1-D_4$). The first loop concomitant with $D_1$ and $D_2$ occurred at $400-500^{\circ}C$, 1.5-3.0 kbar, and related with growth of syn-$D_1$ chloritoid and andalusite, post-$D_1$ margarite, Ca-rich syn-$D_2$ or post-$D_2$ plagioclase. The second loop accompanying $D_3$ and $D_4$ occurred at $520-580^{\circ}C$, 2.0-6.0 kbar, and associated with the growth of syn-$D_3$ garnet and staurolite, and syn-$D_4$ and/or post-$D_4$ andalusite porphyroblasts. Furthermore the syn-$D_1$ chloritoid and andalusite porphyroblasts grew during E-W bulk crustal shortening, whereas the syn-$D_3$ garnet and staurolite, and the syn-$D_4$ and/or post-$D_4$ andalusite porphyroblasts have grown under N-S bulk crustal shortening. The similarity in the characteristics and timing of the metamorphism and bulk crustal shortening directions between the Okcheon and Imjingang belts suggest that the peak metamorphic conditions tend to increase toward the western part (Imjingang belt and southwestern part of the Gyeonggi Massif) from the eastern part (Taebaeksan basin). The E-W bulk crustal shortening influenced the eastern part of the Okcheon belt, whereas the N-S bulk crustal shortening resulted in strong deformation in the Imjingang and Okcheon belts. Consequently, the Permo-Triassic Songrim orogeny in the Korean peninsula is probably not only related to collision of the North and South China blocks, but also to the amalgamation of terrane fragments at the eastern Eurasia margin (e.g., collision of the Sino-Korean continent and the Hida-Oki terrane).

• The Journal of the Petrological Society of Korea
• /
• v.19 no.1
• /
• pp.19-30
• /
• 2010

The Jurassic Daebo Ogcheon granite is distributed in the Ogcheon area which is located in the central part of the Ogcheon Belt, Korea. This paper newly examines the timing of Honam shearing on the basis of the petrofabric researches on the deformation structures of the Ogcheon granite. The structural shape of Ogcheon granite is mainly characterized by a wedge shaped of E-W trend and an elongate shape of ENE trend in geological map and by contacts parallel to the regional S1 foliation in the host Ogcheon supergroup. It indicates that the pluton was permittedly emplaced after the S1 formation. The main deformation structures are marked by a solid-state tectonic foliation of N-S trend, which passes through the contact of the pluton, and by an aplitic dyke of E-W trend, and by sinistral, NW and E-W oriented shear zones on the eastern border of the pluton. The petrofabric study on the main deformation structures suggests that the tectonic foliation and the aplitic dyke were formed by the Honam dextral strike-slip shearing of (N)NE trend at ca. $500{\sim}450^{\circ}C$ deformation temperature, and that the sinistral shear zones could be induced by the dextral rotation of the pluton from its original site of intrusion, that is, by the shear strain which is due to sliding of the pluton past the host rocks. The history of emplacement and deformation of the Ogcheon granite and the previous results on the timing of Honam shearing would be newly established and reviewed as follows. (1) Early~Middle Jurassic(187~170 Ma); intrusion of syntectonic foliated granite related to Early Honam shearing, (2) Middle Jurassic(175~166 Ma); main magmatic period of Jurassic granitoids, the permitted emplacement of the Ogcheon granite, (3) Middle~Late Jurassic(168~152 Ma); main cooling period of Jurassic granitoids, the deformation of the Ogcheon granite related to Late Honam shearing. Thus, this study proposes that the Honam shear movement would occur two times at least during 187~152 Ma (ca. 35 Ma) through the intertectonic phase of 175~166 Ma.

• The Journal of the Petrological Society of Korea
• /
• v.19 no.4
• /
• pp.269-281
• /
• 2010

The compiled recent precise age data for the plutonic intrusions of Korean peninsula display that the Jurassic igneous activities occurred on the Yeongnam massif since ca. 200 Ma close to the boundary between Triassic and Jurassic. Since then the igneous activities propagated toward further north through time. The Jurassic igneous activities over the Okcheon belt and its vicinity areas began at about 180 Ma when igneous activities of the Yeongnam massif had been almost over. The igneous activities within the Gyeonggi massif located further north started at somewhat later period ca. 170 Ma. Jurassic igneous activities over the Okcheon belt and its vicinity areas ended a little earlier than the Gyeonggi massif area. Such timing differences upon geographic positions within the Korean peninsula seem to reflect variations in distance to the trench, in the direction of subduction, and/or in subduction angle. Therefore precise understanding of the variations in emplacement ages of Jurassic plutons within Korean peninsula can be a important clue to reconstruct the paleogeography and tectonic environment of the northeast Asia during the Jurassic.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.11 no.3
• /
• pp.274-283
• /
• 2006

The Permanent Magnet Synchronous Motor(PMSM) drive systems with ball-screw, gear and timing-belt are widely used in industrial applications such as NC machine, machine tools, robots and factory automation. These systems have torsional vibration in torque transmission from servo motor to mechanical load due to the mechanical couplings. This vibration makes it difficult to achieve quick responses of speed and may result in damage to the mechanical plant. This paper presents adaptive notch filter with auto searching function of vibration frequency to reject the mechanical vibration of linear feeder system with PMSM. The proposed adaptive notch filter can suppress the torque command signal of PMSM in the resonant bandwidth for reject the mechanical torsional vibration. However, the resonant frequency can vary with conditions of mechanical load system and coupling devices, adaptive notch filter can auto search the vibration frequency and suppress the vibration signal bandwidth. Computer simulation and experimental results shows the verification of the proposed adaptive notch filter in linear feeder system with PMSM.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.9 no.6
• /
• pp.612-619
• /
• 2004

Servo motor systems with ball-screw and timing-belt are widely used in NC, robot, FA and industrial applications. However, the nonlinear friction torque and damping effect in machine elements reduce the control performance. Especially tracking errors in trajectory control and very low velocity control range are serious due to the break-away friction and Stribeck effects. In this paper, a new double speed controller is proposed for compensation of the nonlinear friction torque. The proposed double speed controller has outer speed controller and inner friction torque compensator. The proposed friction torque compensator compensates the nonlinear friction torque with actual speed and speed error information. Due to the actual information for friction torque compensator without parameters and mathematical model of motor, proposed compensator is very simple structure and the stability is very high. The proposed compensator is verified by simulation and experimental results.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.2
• /
• pp.178-184
• /
• 2012

This paper presents a transformable track mechanism for wall climbing robots. The proposed mechanism allows a wall climbing robot to go over obstacles by transforming the track shape, and also increases contact area between track and wall surface for safe attachment. The track mechanism is realized using a timing belt track with one driving actuator. The inner frame of the track consists of serially connected 5R-joints and 1P-joint, and all joints of the inner frame are passively operated by springs, so the mechanism does not require any actuators and complex control algorithms to change its shape. Static analysis is carried out to determine design parameters which enable $90^{\circ}$ wall-to-wall transition and driving over projected obstacles on wall surfaces. A Prototype is manufactured using the transformable track on which polymer magnets are installed for adhesion force. The size of the prototype is $628mm{\times}200mm{\times}150mm$ ($Length{\times}Width{\times}Height$) and weight is 4kgf. Experiments are performed to verify its climbing capability focusing on $90^{\circ}$ wall to wall transition and driving over projected obstacle.

• The Journal of the Petrological Society of Korea
• /
• v.19 no.2
• /
• pp.157-165
• /
• 2010

The age unknown Ogcheon metasedimentary rocks and the Jurassic Ogcheon granite (Jocgr) intruding it are distributed in the Ogcheon area, which is located in the central part of the Ogcheon Belt, Korea, This paper newly examines the timing of Honam shearing on the basis of the microstructural researches on time-relationship between the crenulation of Ogcheon metasedimentary rocks and the contact metamorphism by the intrusion of Jocgr. The D2 crenulation phase, which is defined by the microfolding of the S1 foliation in the metasedimentary rocks, is divided into two sub-phases. The one is a sub-phase of Early crenulation (D2a) which is included within old andalusite porphyroblasts, and the other is that of Late crenulation (D2b) which warps around the old andalusite. But they show the same dextral shear sense, the axial planes parallel to each other, and a single crenulation at outcrop scale. The contact metamorphism of andalusite-sillimanite type by the Jocgr occurred during the inter-phases of D2a and D2b, and crystallized the old andalusite masking the D2a crenulation and fibrous sillimanites replacing the D2a crenulation-forming muscovites. New andalusite porphyroblasts synkinematically grew in pressure shadows around the old andalusite or in its outermost mantles during the early stage of the D2b. The D2b occurred still continuously after the growth of the andalusite ceased (= later stage of the D2b). It indicates that the D2b occurred continuously during the period when the Ogcheon granite was still hot and cool. From this study, the crenulation history of Ogcheon metasedimentary rocks and the timing of Honam shearing would be newly established and reviewed as follows. (1) Early Honam shearing; formative period of Early crenulation, (2) main magmatic period of Jurassic granitoids; growth of the old andalusite and fibrous sillimanite by the intrusion of Jocgr, (3) main cooling period of Jurassic granitoids; formative period of Late crenulation related to Late Honam shearing, growth of the new andalusite in the early stage of D2b. Thus, this study proposes that the Honam shear movement would occur two times at least before and after the intertectonic phase which corresponds to the main magmatic period of Jurassic granitoids.