• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.284-291
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• 2011

This paper presents the estimation of the frictional coefficient of the wheel-legged robot with hip joint actuation producing maximum tractive force. Slip behavior for wheel-legged robot is analytically explored and physically understood by identification of the non-slip condition and derivation of the torque limits satisfying it. Utilizing results of the analysis of slip behavior, the frictional coefficients of the wheel-legged robot during stance phase are numerically estimated and finally this paper suggests the pseudo-algorithm which can not only estimate the frictional coefficients of the wheel-legged robot, but also produce the candidate of the touch down angle for the next stance.

• Journal of Biomedical Engineering Research
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• v.22 no.6
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• pp.519-526
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• 2001

At present. about 0.3 million and more THRs (Total Hip Replacement) in a rear are being done worldwide. The increase in mechanical failure with the increase in THR, required more revisions. Revisions compensate mainly the wear of the artificial joint frictional surface and the loosening of the cup and stem. According to recent researches, loosening is mainly due to wear debris UHMWPE (Ultra High Molecular Weight Polyethylene) from frictional surfaces . To overcome the wear problems associated with artificial joint materials , new surface structures with regular Patterns were designed and fabricated The lubrication Properties were examined to evaluate the wear of the frictional surfaces. The surface structure manifested a Pattern of "dents" with a 0.2-1.0 mm of diameter and 0.6-2.0 mm of Pitch. From the friction test of the SUS316L vs UHMWPE using the frictional tester, we found that the lubrication Performance was improved due to of drastically reduced amount of abrasion. There were optimum sizes for the diameter and the pitch of the Pattern. The results demonstrated that the lubrication properties could be improved by Patterning of the frictional surfaces. The surface Patterning was effective in preventing wear of the frictional surfaces, and the life of an artificial joint could be extended with such Patterning.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.28 no.5A
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• pp.691-697
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• 2008

Coating the high tension bolted frictional joint has been generally allowed for anti-corrosion purpose. However in case of painting on paying surface of the high tension bolt, the influence on a slip strength of the joint depending on precision of painting has remained controversial. The study thus was intended to identify the slip behavior on high tension bolted frictional joint when applying ceramic painting, which has been currently developed. A slip test was conducted on a high tension bolted frictional joint specimen on which ceramic painting has been applied and a slip load and slip coefficient were measured. Based on result, the safety and usability of ceramic painting-applied high tension bolted frictional joint was evaluated. As a result, a difference to some extent by specimen in terms of load-displacement when a slip occurred was observed but an average slip coefficient appeared to have exceeded 0.4, which is the design frictional coefficient set forth in the specification. To secure the safety and usability of ceramic painting-applied high tension bolted frictional joint, it's necessary to establish the standard for painting as well as to revise the relevant specification.

• Journal of the Korean Society for Advanced Composite Structures
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• v.6 no.4
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• pp.51-57
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• 2015

Various hybrid dampers have been developed in Korea to control the vibration due to a wind and earthquake. In order to minimize the installment space, cost and construction process, the new hybrid friction damper is developed. This hybrid damper is composed of several rotary friction components having two frictional joint. Because of these components, the building vibration due to wind and earthquake can be mitigated by hybrid friction damper. In this paper, various dependency tests were carried out to evaluate on the structural performance of two joint rotational friction component of the hybrid damper. Test results show that two joint rotational components do not depend on a displacement and a frequency of forcing but friction coefficients is reducing as a clamping force is increasing.

• Journal of the Korean Society of Safety
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• v.18 no.2
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• pp.1-5
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• 2003

By using an approach developed to determine the torque-tension relationship for bolted joints, frictional properties of several typical bolted joints were studied experimentally. The specific property by bolted joints certify that the most significant influence of materials and bearing surface condition. Experiments on thread friction shows that prevailing torque nuts with distorted threads provide benefit for preventing self-loosening of the nut. Repeated tightening-loosening generally increases frictions in a bolted joint. It was noted that the data scatter of the experimental results of frictions in a belted joint may overshadow the influence of size. speed, and contact positions. The results from the experimental investigation will help to better design bolted joints.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1424-1429
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• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• Tunnel and Underground Space
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• v.33 no.1
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• pp.42-56
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• 2023

In deep geological disposal of high-level radioactive waste (HLW), the natural barrier must physically support the disposal facility and delay the movement of radionuclides for at least hundreds of thousands of years. To evaluate the long-term geological evolution of the natural barriers, it is essential to analyze the long-term behavior of rock joints, including the frictional healing behavior. This study aimed to experimentally analyze the frictional healing behavior of rock joints under hydro-mechanical (H-M) conditions through the slide-hold-slide (SHS) test. The SHS tests were performed under mechanical and H-M conditions for joint specimens of different roughness. In the H-M conditions, the frictional healing rate tended to increase, which was more evident in the specimens with large roughness. In addition, it was confirmed that the effect of the hydro-mechanical conditions was more significant when the effective normal stress acting on the joint surface was small. These results are expected to be used as fundamental data to understand the frictional healing behavior of rock joints in the natural barriers.

• Tunnel and Underground Space
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• v.16 no.2 s.61
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• pp.166-178
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• 2006

Recently, the frequency of occurring dynamic events such as earthquakes, explosives blasting and other types of vibration has been increasing. Besides, the chances of exposure for rock discontinuities to free faces get higher as the scale of rock mass structures become larger. For that reason, the frictional behavior of rock joints under dynamic conditions needs to be investigated. In this study, artificially fractured rock joint specimens were prepared in order to examine the dynamic frictional behavior of rough rock joint. Roughness of each specimen was characterized by measuring surface topography using a laser profilometer and a series of shaking table tests was carried out. For mated joints, the static friction angle back-calculated ken the yield acceleration was $2.7^{\circ}$ lower than the tilt angle on average. The averaged dynamic friction angle for unmated joints was $1.8^{\circ}$ lower than the tilt angle. Displacement patterns of sliding block were classified into 4 types and proved to be related to the first order asperity of rock joint. The tilt angle and the static friction angle for mated joints seem to be correlated to micro average inclination angle which represents the second order asperity. The tilt angle and the dynamic friction angle for unmated Joints, however, have no correlation with roughness parameters. Friction angles obtained by shaking table test were lower than those by direct shear test.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.2
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• pp.198-208
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• 1996

The plunge joints of C.V. Joint for vehicle tend to produce a cyclic axial disturbance at a frequency of three of six times shaft speed, in which this distrubance caused by internal frictional effect is related to joint angle, rotational speed, torque, and joint size. This principal axial thrust force might make vehicle shuddered when coinciding with vehicle frequency of tranverse direction, and be one of reasons to have driver feel uncomfortable, unesay, while driving vehicle. The paper makes analysis of axial thrust force & vehicle shudder through computer simulation, comparing the result with experimental data, and reviewing the effect by changing of variables such as dimensions and driving conditions.

• Tribology and Lubricants
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• v.24 no.5
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• pp.215-220
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• 2008

An internal friction model was developed to model the frictional behavior of automotive Constant Velocity (CV) joints by using the test data from an instrumented CV joint friction apparatus with actual driveshaft assemblies. Experiments were conduced under different realistic operating conditions of oscillatory speeds, CV joint articulation angles, lubrication, and torque. The experimental data were used to develop a physics-based semi-empirical CV joint internal friction coefficient model as a function of different CV Joint operating parameters. It was found that the proposed friction model captures the experimental results well not only the static behavior of friction coefficient, but also the dynamic friction terms, which is the main source of force that causes vehicle vibration problems.