• Journal of the Institute of Convergence Signal Processing
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• v.6 no.3
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• pp.157-162
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• 2005

This paper presents an adaptive compensator using the fuzzy systems for robot manipulator with unknown frictions. In general, frictions are neglected or dynamic frictions are only considered in robot control theories. The proposed control method considers viscous frictions as well as dynamic frictions. Using the property that the frictions of joints are decoupled, SISO-fuzzy systems are utilized to approximate each friction. The stability of overall control system is proven and the adaptive laws are derived based on Lyapunov stability theorey. To verify the validity of the proposed control strategy, the results of computer simulations are shown for 2-link robot manipulator. The ability of approximating of the fuzzy system is also shown.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.5
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• pp.578-585
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• 2007

A vacuum circuit breaker (VCB) with permanent magnet actuator (PMA) has been studied in this study. Electromagnetic field analysis and dynamic simulations have been carried out for optimal design of VCB by using commercial software Maxwell and ADAMS. This simulation model can be an effective method for the VCB, which has non-linear output force of PMA, friction, and impact for operations. An experiment has been conducted to evaluate correctness of the simulated model. By using this evaluated model, the displacement and velocity characteristics of the VCB have been simulated with following conditions : (1) The different output forces of PMA have been applied, (2) The friction conditions in follow lever shaft and moving part have been changed, (3) The mass conditions of moving part have been changed. The simulated results shows that the velocity characteristics are mainly determined by the output force of PMA. The effects due to the changes of friction conditions against the dynamic characteristics was small, and the mass conditions of the moving parts affect the velocity and a bouncing phenomenon of VCB. From these results, the optimal design conditions for the VCB have been derived.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.7
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• pp.16-22
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• 2014

Automotive NVH on brake operation is mainly caused by a coupling action of vehicle speed and inter parts friction and its frequency occurs over a broad band of 0.1 kHz~10 kHz. Especially, squeal noise, being a self-excited vibration generated by friction force between drum and lining, occurs over 1 kHz and consequently dynamic instability is induced when friction energy is applied to a brake vibration system. The squeal strongly depends on nonlinear properties influenced by the material of lining, velocity of vehicle, and the dynamic properties of a brake system. The dynamic properties are considered as a main influential design factor to squeal noise, however the analysis of the properties are rarely facilitated due to arbitrariness of shape by wearing down. In this paper, we research generating tendency of squeal noise through complex eigenvalue analysis, tracking drum brake's unstable modes in accordance with the wear shape of drum and lining such as tapered and bellmouth shape, and analyze computed unstable modes by variable shapes.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.7 s.178
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• pp.1712-1720
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• 2000

• Earthquakes and Structures
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• v.12 no.1
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• pp.35-45
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• 2017

The current paper investigates the effect of the seismic pounding of neighboring buildings on the response of structures isolated by Triple Friction Pendulum Bearing (TFPB). To this end, a symmetric three-dimensional single story building is modeled for analysis with two specified levels of top deck and base deck, to capture the seismic response of the base isolators and building's roof. Linear elastic springs with different level of gaps are employed to calculate the impact between the buildings. Nonlinear Dynamic Time History Analyses (NDTHA) are conducted for seismic evaluation. Also, five different sizes with four different sets of friction coefficients are assumed for base isolators to cover a whole range of base isolation systems with various geometry configurations and fundamental period. The results are investigated in terms of base shear, buildings' drift and top deck acceleration of the superstructure. The results also indicate the profound effect of the stiffness of the adjacent buildings on the value of the impact they impose to the superstructure. Also, in situations of potential pounding, the increment of the fundamental period of the TFPB base isolator could intensify the impact force up to nearly five-fold.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1548-1553
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• 2003

The design of a high speed axial piston pump for hydrostatic transmission systems requires specific understanding on where and how much its internal frictional and flow losses are generated. In this study, the frictional loss of a bentaxis type hydraulic piston pump was analyzed in order to find out which design factors influence the mechanical efficiency most significantly. To this end, the friction coefficients of the sliding components were experimentally identified by a specially constructed tribometer. Applying them to the three-dimensional dynamic model of the pump presented by Doh and Hong [1], the friction torques generated by the sliding components such as piston head , bearing and valve plate were theoretically computed. The accuracy of the computed results was confirmed by the comparison with the experimentally measured mechanical efficiency. In this paper, it is shown that the viscous friction on the valve plate and the drive shaft bearing is the primary sources of the frictional losses of the bent-axis type pump, while the friction forces on the piston contribute to them only slightly.

• Structural Engineering and Mechanics
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• v.10 no.6
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• pp.621-633
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• 2000

Dynamic responses of a bridge system with several simple spans under longitudinal seismic excitations are examined. The bridge system is modeled as the multiple oscillators and each oscillator consists of four degrees-of-freedom system to implement the poundings between the adjacent oscillators and the friction at movable supports. Pounding effects are considered by introducing the impact elements and a bi-linear model is adopted for the friction force. From the parametric studies, the pounding is found to induce complicated seismic responses and to restrain significantly the relative displacements between the adjacent units. The smaller gap size also restricts more strictly the relative displacement. It is found that the relative displacements between the abutment and adjacent pier unit became much larger than the responses between the inner pier units. Consequently, the unseating failure could take a place between the abutment and nearby pier units. It is also found that the relative displacements of an abutment unit to the adjacent pier unit are governed by the pounding at the opposite side abutment.

• Geomechanics and Engineering
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• v.3 no.4
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• pp.255-266
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• 2011

Knowledge of seismic earth pressure against rigid retaining wall is very important. Mononobe-Okabe method is commonly used, which considers pseudo-static approach. In this paper, the pseudo-dynamic method is used to compute the distribution of seismic earth pressure on a rigid cantilever retaining wall supporting dry cohesionless backfill. Planar rupture surface is considered in the analysis. Effect of various parameters like wall friction angle, soil friction angle, shear wave velocity, primary wave velocity, horizontal and vertical seismic accelerations on seismic earth pressure have been studied. Results are presented in terms of tabular and graphical non-dimensional form.

• Journal of KSNVE
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• v.8 no.4
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• pp.670-682
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• 1998

Ball type automatic balancer is used to reduce the vibration caused by unbalance of rotor. In this study, A analytic modeling of a front loaded washing machine with ball type automatic balancer has been suggested theoretically and ADAMS has been used to analyze the dynamic characteristics of automatic balancer. It is found from simulation and experimental results that the automatic balancer suppress the steady state vibration of washing machine effectively. The test results match with the simulation results of ADAMS, thereby the dynamic model of ADAMS can be used as virtual prototype to predict the vibration characteristics which could be changed by the modification of design variableand can reduce the design cycle sharphy. To maximize the balancing effect of automatic balancer, the friction between balls and race and the deviation between geometric center and rotation center of drum need to be minimized and the optimum design for the stiffness of flange shaft and the angular acceleration of drum should be achieved.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.126-135
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• 1997

A sensorless motion planner which succeeds in grasping a polygonal part firmly into a desired orientation has been developed through the dynamic analysis. The analytical results on the impact process with friction are used for modeling the contact motionduring the parallel-jaw grasp operation, which is com- posed of the pushing and the squeezing process. The developed planner succeeds in grasping a part into a specified orientation in the face of uncertainties of initial position and orientation of the part, motion direction of the finger, and the physical parameters such as the coefficients of friction and restitution. The motion planner has been fully implemented into a viable package on the computer system, and verified experimentally. The motion of parts is recorded using a high-speed video camera, and then compared to the results of the planner and the graphic simulation results that illustrate the simulated motion of the grasp operation.