• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1045-1049
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• 2005

In this paper, the dynamic crawling of a five-bar planar mechanism is investigated. One complete cycle of the crawling selected in this study consists of four different steps, i) sliding at one contact point between the mechanism and the ground, ii) changing its configuration without sliding at two contact points, iii) sliding at the other contact point, and iv) again changing its configuration without sliding at two contact points. In this type of crawling, the crawling mechanism maintains the shape of the parallel structure throughout a complete crawling cycle. The modeling algorithm for serial manipulators proposed by M. Thomas and et al.[1] is employed by introducing imaginary joints and links which represent the contact interfaces between the one end of the mechanism and the ground, while the other end of the mechanism is regarded as an end-effector of the imaginary serial manipulator which treats the reaction force and torque at the contact point as external forces. Then, a complete cycle of dynamic crawling of the mechanism is investigated through various computer simulations. The simulation result show that the stable crawling characteristics of the mechanism could be secured when the proper configurations depending on specified frictional constraints are met.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.842-846
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• 1996

Leaf springs are widely used as a major suspension component in many commercial vehicles, such as buses, trucks, etc. They have a complex dynamic behavior due to the geometric nonlinear and the contact mechanism between the leaves. The interface conditions between the leaves play a significant role in the global behavior of the comfort and ride of the vehicle system. The paper concentrates on modeling leaf springs and contact frictions between the leaves using a nonlinear finite element approach. A nonlinear load-displacement hysteresis curve for the leaf spring is simulated and its results are compared with test results.

• Communications of the Korean Mathematical Society
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• v.38 no.2
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• pp.629-641
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• 2023

The aim of this paper is two-fold. First, we study the Chinea-Gonzalez class C₁₂ of almost contact metric manifolds and we discuss some fundamental properties. We show there is a one-to-one correspondence between C₁₂ and Kählerian structures. Secondly, we give some basic results for Riemannian curvature tensor of C₁₂-manifolds and then establish equivalent relations among 𝜑-sectional curvature. Concrete examples are given.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.2
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• pp.92-101
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• 1997

In this paper, modeling methods for 2D joints are proposed. Earlier methods for modeling 2D joints that use geometric relationships may not consider irregularities or dynamic effects of joints. In any case, it is important to consider irregularities or dynamic effects. To consider those, methods that use dynamic contacts are proposed. With the method, 2D joints that have irregularities or dynamic effects amy be model- ed and analyzed. 2D joints that are developed are revolute, translational, gear and point-follower joint.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.6
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• pp.152-159
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• 2001

In multibody dynamic analysis including contact and impact, there are two major analysis methods, i.e., piecewise analysis and continuous analysis. Modeling of contact phenomena is mainly classified with a Kelvin-Voigt model or a model of Hertz contact model. In this paper, a contact module fur AutoDyn7 program was developed and implemented. Both the Kelvin-Voigt model and a model of Hertz contact law were developed. The process of this module is composed of contact distinction and the contact force calculation. Two examples were verified and compared to the commercial program DADS.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.139-142
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• 1996

This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.5
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• pp.423-429
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• 2015

Linear motion (LM) ball guides have good accuracy and high efficiency. They are widely applied for precision machinery such as machine tools, semiconductor fabrication machines and robots. However, friction force incurs heat between the balls and grooves. Thermal expansion due to the heat deteriorates stiffness and accuracy of the LM ball guides. For accurate estimation of stiffness and accuracy during the linear motion, friction models of LM ball guides are required. To formulate accurate frictional models of LM ball guides according to load and preload conditions, rolling and viscous frictional analyses have been performed in this paper. Contact loads between balls and grooves are derived from Hertzian contact analysis. Contact angle variation is incorporated for the precision modeling. Viscous friction model is formulated from the shear stress of lubricant and the contact area between balls and grooves. Experiments confirm validity of the developed friction model for various external load and feedrate conditions.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.5
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• pp.415-422
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• 2015

Ballscrews are important motion transfer and positioning units of industrial machinery and precision machines. Positioning accuracy of the feed drive system depends upon axial stiffness of ballscrew systems. As the nut stiffness depends upon preload and operating conditions, analytical modeling of the stiffness is performed through the contact and body deformation analysis. For accurate contact analysis, the contact angle variation between balls and grooves is incorporated in the developed model. To verify the developed mathematical stiffness model, experiments are conducted on the test-rig. Through the uncertainty analysis according to GUM (Guide to the expression of Uncertainty in Measurement), it is confirmed that the formulated stiffness model has over 85% estimation accuracy. After constructing the ballscrew DB, a quick turnaround system for the nut stiffness estimation has been developed in this research.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.2
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• pp.121-131
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• 2011

An object oriented programming(OOP) framework is presented to solve plane elastostatic contact problems by means of the boundary element method(BEM). Unified modeling language(UML) is chosen to describe the structure of the program without loss of generality, even though all implemented codes are written with C++. The implementation is based on computational abstractions of both mathematical and physical concepts associated with contact mechanics involving geometrical nonlinearities and the corner node problems for multi-valued traction. The overall class organization for contact analysis is discussed in detail. Numerical examples are also presented to verify the accuracy of the developed BEM program.

• Journal of Wind Energy
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• v.14 no.4
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• pp.21-28
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• 2023

This study focuses on the analysis of slewing ball bearings in wind turbines. Slewing bearings have an outer diameter of several meters, and hundreds of balls are in contact with the raceway. Due to the large number of balls and raceway contact conditions, it is difficult to accurately analyze contact stresses using general analysis techniques. To analyze the contact stress of a slewing ball bearing, the sub-modeling method is applied, which is a technique that first analyzes the displacement of the entire model and then analyzes the local stress at the point of maximum displacement. In order to reduce the displacement analysis time of the entire ball bearing, the technique of replacing the ball with a nonlinear spring is adopted. The analytical agreement of the simplified model was evaluated by comparing it with a solid mesh model of the ball for three models with different spring attachment methods. It was found that for the condition where a large turnover moment is applied to the bearing, increasing the number of spring elements gives the closest results to modeling the ball with a solid mesh.