• Proceedings of the KSME Conference
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• 2008.11a
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• pp.453-458
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• 2008

Under driving condition, A vehicle experiences various kinds of loads, which brings on the buckling and fracture of suspension systems. Lower control arm (LCA), which consists of 2 bush joints and 1 ball joint connection, is the one of the most important parts in the suspension system. The bush joints absorb the impact load and reduce the vibration from the road. When analyzing the LCA behavior, it is important to understand the material properties and boundary conditions of bushing systems correctly, because of the nonlinearity characteristics of the rubber. In this paper, in order to predict the large scale deformation of the LCA more precisely, three factors are newly suggested, that is, coupling of bush stiffness between translation and rotation, bush extraction force and maximum rotation angle of ball joint. LCA stiffness is estimated by CAE and component test. Analysis and test results are almost same and the validity of considering three factors in LCA analysis is verified.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.209-214
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• 2003

We developed a new type of human-sized BWR (biped walking robot), named KUBIR1 which is driven by the closed-chain type of actuator. A new type of the closed-chain actuator for the robot is developed, which is composed of the four-bar-link mechanism driven by the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of 6 D.O.F joints. For front walking, three pitch joints and one roll joint at the ankle. In addition to this, one yaw joint for direction change, and another roll joint for balancing the body are attached. Also, the robot has two D.O.F joints of each hand and three D.O.F. for eye motion. There are three actuating motors for stereo cameras for eyes. In all, a 18 degree-of-freedom robot was developed. KUBIR1 was designed to walk autonomously by adapting small 90W DC motors as the robot actuators and batteries and controllers are on-boarded. The whole weight for Kubir1 is over 90Kg, and height is 167Cm. In the paper, the performance test of KUBIR1 will be shown.

• Journal of the Microelectronics and Packaging Society
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• v.14 no.4
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• pp.71-77
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• 2007

In this study, the mechanical and electrical properties of three different ball grid array (BGA) solder joints, consisting of Sn-37Pb, Sn-3.5Ag and Sn-3.5Ag-0.75Cu (all wt.%), with organic solderability preservative (OSP)-finished Cu pads were investigated as a function of reflow number. Based on scanning electron microscopy (SEM) analysis results, a continuous $Cu_6Sn5$, intermetallic compound (IMC) layer was formed at the solder/substrate interface, which grew with increasing reflow number. The ball shear testing results showed that the shear force peaked after 3 reflows (in case of Sn-Ag solder, 4 reflows), and then decreased with increasing reflow number. The electrical property of the joint gradually decreased with increasing reflow number.

• Korean Journal of Metals and Materials
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• v.47 no.9
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• pp.580-585
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• 2009

The effects of shear speed and tip height on the high speed shear test of Sn-3.0wt.%Ag-0.5wt.%Cu ball joints were investigated. Solder balls of $450{\mu}m$ in diameter were reflowed at $245^{\circ}C$ on a FR4 PCB (Printed Circuit Board) in order to obtain a sample for the high-speed shear test. The UBM was comprised of Cu/Ni/Au, and the shear speed and tip height varied from 0.5 to 3.0 m/s, and from 10 to $135{\mu}m$, respectively. According to the experimental results, faster shear speed enhanced the shear strength of the solder joints, regardless of the tip height. The fraction of ductile (solder) fracture decreased when the shearing speed was raised from 0.5 to 3.0 m/s. With an increasing tip height from 10 to 50 and $135{\mu}m$, the fracture mode changed from pad lift to mixed (ductile and brittle) and ductile fracture, respectively, while the shearing energy also increased in the same order. The shear energy had a proportional relationship with the fraction of the solder fracture.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.453-460
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• 2005

In this paper, a prototype Cartesian Parallel Manipulator (CPM) is demonstrated, in which a moving platform is connected to a fixed frame by three PRRR limbs. Due to the orthogonal arrangement of the three prismatic joints, it behaves like a conventional X-Y-Z Cartesian robot. However, because all the linear actuators are mounted at the fixed frame, the manipulator may be suitable for applications requiring high speed and accuracy. Using a geometric method and the practical assumption that three revolute joint axes in each limb are parallel to one another, a simple forward kinematics for an actual model is derived, which is expressed in terms of a set of linear equations. Based on the error model, two calibration methods using full position and length measurements are developed. It is shown that for a full position measurement, the solution for the calibration can be obtained analytically. However, since a ball-bar is less expensive and sufficiently accurate for calibration, the kinematic calibration experiment on the prototype machine is performed by using a ball-bar. The effectiveness of the kinematic calibration method with a ball-bar is verified through the well­known circular test.

• Journal of Advanced Marine Engineering and Technology
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• v.27 no.2
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• pp.238-245
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• 2003

To overcome the weakness in the load capacity of conventional robot manipulators actuated by motors with the speed reducer such as the harmonic driver, we proposed a new closed-chain type of the robot actuator which is composed of the four-bar-link mechanism driven by the ball screw. The robot manipulator is revolute-jointed and composed of four axes. The base axis is actuated by the lineal actuator such as the ball screw, and the others are actuated by the proposed actuator. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates and then they are mapped into the sliding coordinates of the ball screw. We performed fundamental tests on the structure of the robot.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.978-983
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• 2014

This research proposes a method to estimate the fatigue life of solid-state drive(SSD) due to the effect of dummy solder ball under forced vibration. Mechanical jig is developed to describe the SSD in laptop computer. The jig with SSD is mounted on a shaker, and excited by a sinusoidal sweep vibration within the narrow frequency band around the first resonant frequency until the SSD fails. A finite element model of SSD is also developed to simulate the forced vibration. It shows that the solder joints at the corners of controller package are most vulnerable components and that placing dummy solder balls at those area is effective method to increase fatigue life of SSD.

• Journal of Welding and Joining
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• v.21 no.4
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• pp.25-30
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• 2003

There have been many researches for small scale packages such as CSP, BGA, and Flipchip. Underfill encapsulant technology is one of the latest assembly technologies. The underfill encapsulant could enhance the reliability of the packages by flowing into the gap between die and substrate. In this paper, the effects of underfill packages by both aspects of thermal and mechanical reliabilities are studied. Especially, it is focused to value board-level reliability whether by the underfill is applied or not. First of all, The predicted thermal fatigue lifes of underfilled and no underfilled $\mu$ BGA solder joints are performed by Coffin-Manson's equation and FEA program, ANSYS(version 5.62). Also, the thermal fatigue lifes of $\mu$ BGA solder joints are experimented by thermal cycle test during the temperature, 218K to 423k. Consequently, both experimental and numerical study show that $\mu$ BGA with underfill has over ten times better fatigue lift than $\mu$ BGA without underfill.

• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.4
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• pp.192-198
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• 2002

There are genuine parts, non-genuine parts and recycled parts which can be replaced for the repair of damaged parts of crashed cars. It is the recent trend in korea that recycled C. V joints are more popular than the genuine parts fur repairing crashed cars due to the cost. Performance of recycled C. V. joints as replacement parts was tested and analysed in this study. To examine the durability of the recycled parts, the replaced C. V joints after repair were tested and analysed periodically. The results were showed that basic performance of the recycled parts was normal. However ball cage was more frequently damaged than genuine parts. We concluded that a standard test for recycled parts is required to get a safe and durable parts.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.2
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• pp.120-127
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• 2008

The constant velocity joint(CVJ) used for transmitting torque to the front wheels is an important part in automotive drive system. There are several types of constant velocity joints. Typically, they are classified by fixed and plunging constant velocity joints. The axial force generated in plunging constant velocity joints influences significantly the noise, vibration and harshness. For heaps of time, many constant velocity joint markers have been studying and developing a valid method to reduce the axial force and extensive tests have been carried out on rigs. This paper presents the analysis method to predict the axial force of a double offset constant velocity joint(DOJ), a kind of plunging constant velocity joint, and the influence of ball-cage dimension tolerance on the axial force.