• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.5 s.311
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• pp.10-18
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• 2006

We propose a new approach to compute possible acceleration boundary, so is called dynamic manipulability, for multiple robotic systems with frictional contacts between robot end-effectors and object. As the frictional contact condition which requires each contact force to lie within a friction cone is based on the nonlinear inequality formalism is not easy to handle the constraint in manipulability analysis. To include the frictional contact condition into the conventional manipulability analysis we approximate the friction cone to a pyramid which is described by linear inequality constraints. And then achievable acceleration boundaries of manipulated object are calculated conventional linear programming technique under constraints for torque capability of each robot and the approximated contact condition. With the proposed method we find some solution to which conventional approaches did not reach. Also, case studies are Presented to illustrate the correctness of the proposed approach for two robot systems of simple planar robots and PUMA560 robots.

• The Korean Journal of Ceramics
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• v.4 no.3
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• pp.193-198
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• 1998

This paper presents the effects of an initial braking velocity, a braking pressure, and the number of braking stop on the tribological behaviors for the three different C-C composites using an inertia dynamic-friction tester. The C-C composites were prepared through the processes of several cycles of pitch impregnation/carbonization with different friction surface texture such as continuous 8-harness satin fabric (ADD-1), chopped fiber (ADD-2) and chopped fiber (ADD-3) having higher fiber volume fraction on friction than ADD-2 by about 10%. ADD-1 exhibited a higher fraction coefficient (0.41~0.33) than those of ADD-2 and ADD-3 (0.32~0.26) under the various initial braking velocities and braking pressures. The fraction coefficients decreased with increasing the initial velocity and the braking pressures. Wear rate by the thickness change after every 25 stop indicated that ADD-2 and ADD-3 having 1.7~2.7 $\mu\textrm{m}$/stop/pair were much lower than that of ADD-1 showing 5.0~6.5 $\mu\textrm{m}$/stop/pair. All specimens showed a little bit lower wear rate during the middle stage than the initial and latter stages among 100 braking stops. ADD-1 showed higher friction coefficient and wear rate due to the active pull-out of the fibers, evidenced by thicker were film and wear debrises.

• Journal of the Korean Wood Science and Technology
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• v.19 no.1
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• pp.71-80
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• 1991

This study was carried out to investigate replaceable species with the conventional sounding board sitka spruce. by comparing the dynamic properties such as density, dynamic Young's modulus and internal friction Dynamic Young's modulus. internal friction of longitudinal and radial direction measured in free mass-free boundary condition for facile vibration analysis and measured by forced vibration method. Dynamical properties of four species were measured on squared plate specimen that the four edges were hung vertically by threads and driven magnetically through an iron piece glued on the specimen, by the use of condenser microphone as vibration transducer, and analyzed by FFT analyzer. The results obtained were as follows: 1. Chaldni method using aluminum powder was proper to identify the vibration mode in the plate vibration and it was possible to verify the resornance mode. 2. It was considered that it was necessary to investigate the influence of adhesive part on the plate vibration when the sounding board was made by two or three small board adhesion. 3. It was considered that plate vibration method, which was a superior to the vibration test of beam, was suitable for selecting suounding board because dynamic Young's modulus and internal friction show different order according to longitudinal and radial direction. 4. Paulownia tomentosa Thunb.) Steudel has been considered to be replaceable species with sitka spruce because it has high dynamic Young's modulus compared with low density, low internal friction, and K value of Paulownia tomentosa (Thunb.) Steudel is greater than that of sitka spruce.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.10
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• pp.5268-5273
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• 2013

Technique for analyzing pile installed by vibratory pile driver was developed and results of analysis obtained from variation of bias weight were studied. It can be seen from load transfer curve for dynamic skin friction that load transfer curve shift to downward as bias weight increases. Shape of load transfer curve for dynamic skin friction becomes closer to shape of coil as the bias weight decreases. Magnitudes of toe resistances were not affected by the bias weight. Shape of load transfer curve for dynamic toe resistance shows the similar tendency as the load transfer curve for skin friction exhibits. Vertical displacement increases as the bias weight increases and the shape of vertical displacement with time shows more distinct shape of wave.

• Tribology and Lubricants
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• v.11 no.2
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• pp.44-55
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• 1995

Frictional characteristics with the change of dynamic parameters, such as stiffness, inertia and damping, in the friction measurement at dry sliding surfaces were experimentally and theoretically investigated throughout the study. Dynamic frictional force and the variation in the normal load were mainly measured at the various conditions of system dynamic parameters with which stiffness in the normal direction, loading mechanisms and test materials were varied. For the normal load, mechanisms using both a dead weight and a pneumatic cylinder were applied, which resulted in change of the inertia and damping of the test rig. Test materials were steel, rosin and PTFE, which have different types of intrinsic frictional characteristics. Test results showed that frictional characteristics under different dynamic parameters could be different even though the operating variables were the same and also they could result in the variation in the normal load, which could consequently affect the wear mechanism.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.906-910
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• 2003

This paper numerically analyzes the dynamic characteristics of a spindle system supported by two identical journal bearings considering bearing span that has dynamic load due to its mass unbalance. The Reynolds equation is transformed to solve a herringbone grooved journal bearing. The Reynolds equations are solved using FEM in order to calculate the pressure distribution in a fluid film. Reaction forces and friction torque are obtained by integrating the pressure and shear stress along the fluid film, respectively. Dynamic behaviors, such as whirl radius or angular displacement of a rotor, are determined by solving its nonlinear equations of motion with the Runge-Kutta method. This research shows that the same bearing spans of upper and lower journal bearings produce the minimum runout and friction torque of a spindle system.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.9 s.90
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• pp.779-784
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• 2004

This paper numerically analyzes the dynamic characteristics of a spindle system supported by two identical journal bearingsconsidering bearing span that has dynamic load due to its mass unbalance. The Reynolds equation is transformed to solve a herringbone grooved journal bearing. The Reynolds equations are solved using FEM in order to calculate the pressure distribution in a fluid film. Reaction forces and friction torque are obtained by integrating the pressure and shear stress along the fluid film, respectively. Dynamic behaviors, such as whirl radius or angular displacement of a rotor, are determined by solving its nonlinear equations of motion with the Runge-Kutta method. This research shows that the same bearing spans of upper and lower journal bearings produce the minimum runout and friction torque of a spindle system.

• Proceedings of the Korean Geotechical Society Conference
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• 1999.03a
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• pp.249-258
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• 1999

Dynamic load and static load tests are performed on steel pipe piles and concrete piles at five construction sites in highway to compare the difference of load bearing mechanisms. At each site, one steel pile is instrumented with electric strain gages and dynamic tests are performed on the pile during installation. Damages of strain gages due to the installation are checked and static test is performed upon the same pile after two or seven days as well. It shows that load transfer from side friction to base resistance behaves somewhat differently according to the results of load-settlement analysis obtained from PDA and static load test. Initial elastic stage of load settlement curves of two load tests is almost similar. But after the yielding point, dynamic resistance of pile behaves more stiffer than static resistance, thus, dynamic load test result might overestimate the real pile capacity compared with static result. Analysis of gage readings shows that unit skin friction increases exponentially with depth. The skin friction is mobilized at the 1∼2m above the pile tip and contributes to the considerable side resistance. Comparison of side and base resistances between the measured value and the calculated value by Meyerhof's bearing capacity equation using SPT N value shows that the calculated base resistance is higher than the measured. Therefore, contribution of side resistance to total capacity shouldn't be ignored or underestimated. Finally, based upon the overall test results, a construction control procedure is suggested.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.5
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• pp.1419-1425
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• 1996

In this work, a precies actuator which is capable of high positioning accuracy is developed. For estimation the dynamic behavior of the actuator, system modeling is performed by employing a stick-slip frection law. Dynamic characteristics over various types of driving input signals and vibraiton loci of the driving tip are examined by experiments. Phase differences between the input signals are applied, and the dynamic behavior of slider is investigated. From the simulation and experimental results, it is observed that the dynamic behaviors from the simulation results agree fairly well to those of the experimental results. Thisindicates that the model developed in this work is applicable to other precision mechanisms in which a friction farce is as improtant factor for actuation.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.18 no.4
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• pp.313-320
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• 2005

Stick-slip friction is one of the material removal mechanisms in tribology. It occurs when the static friction force is larger than the dynamic friction force, and make the friction curve fluctuated. In the friction monitoring of chemical mechanical polishing(CMP), the friction force also vibrates just as stick-slip friction. In this paper, an attempt to show the similarity between stick-slip friction and the friction of CMP was conducted. The prepared hard pa(IC1000/Suba400 stacked/sup TM/) and soft pad(Suba400/sup TM/) were tested with SiO₂ slurry. The friction force was measured by piezoelectric sensor. According to this experiment, it was shown that as the head and table velocity became faster, the stick-slip time shortened because of the change of real contact area. And, the gradient of stick-slip period as a function of head and table speed in soft pad was more precipitous than that of hard one. From these results, it seems that the fluctuating friction force in CMP is stick-slip friction caused by viscoelastic behavior of the pad and the change of real contact area.