• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1790-1795
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• 1991

The optimal load distribution for two cooperating robots is studied in this paper, and a new solution approach utilizing force ellipsoid is proposed. The load distribution problem is formulated as a nonlinear optimization problem with a quadratic cost function. The limit on instantaneous power is considered in the problem formulation as the joint torque constraints. The optimal solution minimizing energy consumption is obtained using the concept of force ellipsoid and the nonlinear optimization theory. The force ellipsoid provides a useful geometrical insight into the load distribution problem. Despite the presence of the joint torque constraints, the optimal solution is obtained almost as a closed form, in which the joint torques are given in terms of a single scalar parameter that can be obtained numerically by solving a scalar equation.

• 한국정밀공학회지
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• 제2권3호
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• pp.47-58
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• 1985

The study is concerned with the analysis of the required loads and torque in the Three-Roll Power Spinning Process by using the Method of Force Polygon Diagram. Experiments are carried out using pure lead billets at room temperature. The radial force, the axial force and the torque occurring during the process are calculated theoretically and are compared with the experimental data. An approximate load distribution is known by the Force Polygon Diagram.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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• pp.15-17
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• 1995

Hysteresis motor is a synchronous machine which has simple structure and self-start characteristic but also has serious difficulties in numerical analysis. In this study, a finite element analysis for hysteresis motor considering the hysteresis characteristics is presented. The hysteresis model is the magnetization-dependent Preisach model which explains hysteresis phenomena very well. From this, we estimate the instantaneous torque, average torque and hysteresis loss of the rotor, considering slot and winding distribution.

• 전기학회논문지P
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• 제54권3호
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• pp.134-140
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• 2005

Most of the loads in industrial power distribution systems are usually balanced and connected to three power systems. However, in the user power distribution systems, partial loads are single & three phase and unbalanced, generating voltage unbalance by the impedance mismatching. Voltage unbalance has detrimental effects on three-phase induction motors, including over heating, line-current unbalance, derating, torque pulsation, low efficiency, etc. This paper presents a scheme on operation states of a three-phase induction motor under the unbalanced voltages with harmonics components. Three-phase voltages applied to the stator winding of the studied induction motor are controlled by respectively adjusting not only fundamental but also harmonics components. Harmonic components at the voltage unbalanced factor(VUF) of the three-phase source voltages can then be examined the different values of VUF on machine's operation characteristics.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.181-189
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• 2000

This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.337-342
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• 1992

The load distribution problem of two cooperating robots grasping one object is studied. The optimal joint torque needed for the desired motion is obtained by using a new objective function. A new objective function is defined for the minimization of joint torque effort and internal force. The optimal solution can be found by geometrical approach and analysis using the concept of force ellipsoid. Simulation results are presented with 6DOF PUMA robots.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.459-463
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• 2008

Induction hardening has been used to improve torsional strength and characteristics of wear for axle shaft which is a part of automobile to transmit driving torque from differential to wheel. After rapidly heating and cooling process of induction hardening, the shaft has residual stress and material properties change which affect allowable transmit torque. The objective of this study is to predict the distribution of residual stress and estimate the torsional strength of induction hardened axle shafts which has been residual stress using finite element analysis considered thermo mechanical behavior of material and experiments. Results indicate that the torsional strength of axle shaft depends on the surface hardening depth and distribution of residual stress.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1984년도 하계학술회의논문집
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• pp.25-26
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• 1984

• 대한치과기공학회지
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• 제38권1호
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• pp.1-6
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• 2016

Purpose: The present study was to determine the stress distribution of an abutment screw according to implant abutment material. Methods: This study was a tightening torque 10 Ncm, 20 Ncm, set to 30 Ncm, and a titanium alloy (Ti-6Al-4V), PEEK (polyetheretherketone), Endoligns (60% Carbon Fiber Reinforced PEEK) material of the custom abutment titanium alloy (Ti-6Al-4V) the stress distribution in the material of the abutment screw will be evaluated by the finite element analysis. Results: Abutment screw most stress has been concentrated on the interface between the fixture and the abutment was also part of the interface that the threads are started. Depending on the abutment of the abutment screw Material von Mises stress values are shown differently. 10Ncm T10 under the tightening torque of 294.2 MPa, P10 is 562.8 MPa, appeared to E10 is 295.8 MPa, 20Ncm tightening torque under T20 is 581.1 MPa, P20 is 1125 MPa, E20 was shown to 585.1 MPa, 30Ncm tightening torque under T30 is 918.2 MPa, P30 is 1795 MPa, E30 has appeared 925.1 MPa. Conclusion: If the abutment is used as Endoligns, it was confirmed that the abutment screw exhibits of von Mises stress value is similar to the titanium alloy abutment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.162-167
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• 1991

The manipulability ellipsoid and the force ellipsoid for a single robot are extended to the case of a multi-robot system. The force ellipsoid is applied to solve the optimal load distribution for the multi-robot system. Two cases are considered in solving the optimal load distribution. In one case, there are no constraints on the joint torques, and the analytic solution ;a given. In the other case, the torque constraints are given in terms of the maximum power consumption, and the algorithm for the solution is proposed.