• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.681-683
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• 2004

This paper describes the control of a geared DC motor having a backlash for implementation of a humanoid robot using disturbance observer. Critical problem of the humanoid robot is caused by the nonlinearity such as a backlash. To meet this problem, a control method using disturbance observer has been proposed. The disturbance observer is designed to estimate the effects of nonlinearities in the system, to make the nonlinear system behave linearly. To design the low-pass filter in the disturbance observer, cut-off frequency of the output should be found. The goal of this paper is the implementation of the proposed system, compensating the backlash effect. To accomplish the goat, PD control and disturbance observer are employed to the system with no load and full load. As a result, system stability can be guaranteed by compensating the effect of backlash. In addition, real experiment shows the proposed control methodology will satisfy the stable working of a humanoid type in the future.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11b
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• pp.238-243
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• 2002

This paper presents an improved escalator dynamic model so as to reflect the experimental observation on the pseudo-resonance affected by load applied. The experimental evidence reveals that backlash of gearbox as well as sag of driving chain are most critical factors to the pseudo-resonance in escalators. The dynamic model effectively reflects vibration characteristics measured in real escalators with respect to different conditions of driving chain and the number of passengers. For validation of the dynamic model developed, numerical results from the model are compared with experimental results. The developed model and its simulation results are used rigorously for the design of escalator systems in enhancing the ride comfort.

• Structural Engineering and Mechanics
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• v.81 no.4
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• pp.481-492
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• 2022

Cycloidal ball planetary transmission (CBPT) has many applications as precision reducer, such as precision machinery and automation drive systems etc. The traditional analytical model of CBPT cannot accurately describe the change of the normal force of meshing points, and thus cannot describe the precise transmission process of meshing pairs. In the paper, a method for deriving the normal force equation is put forward by using the non-linear relationship between force and deformation in elastic mechanics. The two-point contact analytical models of all the meshing pairs are established to obtain the micro-displacement analytical model of CBPT under axial pre-tightening. Then, the non-real-time two-point contact analytical models of all the meshing pairs are further constructed to obtain the normal force expression to determine the critical compression coefficients. Experimental investigations are performed to verify the analytical model using the critical compression coefficients.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.329.2-329
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• 2002

This paper presents an improved escalator dynamic model so as to reflect the experimental observation on the pseudo-resonance affected by load applied. The experimental evidence reveals that backlash of gearbox as well as sag of driving chain are most critical factors to the pseudo-resonance in escalators. The dynamic model effectively reflects vibration characteristics measured in real escalators with respect to different conditions of driving chain and the number of passengers. (omitted)

• Journal of Mechanical Science and Technology
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• v.17 no.6
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• pp.896-905
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• 2003

A linear motor has many advantages next to conventional feed mechanisms: high transitional speed and acceleration, high control performance, and good positioning accuracy at high speed. Through the omission of a power transfer element, the linear motor shows no wear and no backlash, has a long lifetime, and is easy to assemble. A disadvantage of the linear motor is low efficiency and resultant high-temperature rise in itself and neighboring structures during operation. This paper presents the thermal behavior of the linear motor as a feed mechanism in machine tools. To improve the thermal behavior, an insulation layer is used. By placing the insulation layer between the primary part and the machine table, both the temperature difference and the temperature fluctuation in the machine table due to a varying motor load are reduced.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.3
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• pp.61-68
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• 2001

A linear motor has a lot of advantages in comparison with conventional feed mechanisms: high transitional speed, acceleration, high control performance and good positioning at high speed. Through the omission of a power transfer element, the linear motor shows no wear and no backlash, has along lifetime and is easy to assemble. Recently, the two types of linear motors, asynchronous and synchronous linear motors, are often applied to machine tools as a fast feed mechanism. In this paper, a comparison between the two types of linear motors as to power loss and thermal behavior is made. The heat sources of the linear motor-the electrical power loss in the motor and the frictional heat on the linear guidance-are measured and compared. Also, the temperature on the linear motor and machine structure is measured and presented.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.445-448
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• 2004

Linear motor is very rapidly substituted for rotary motor and ball screw for precision positioning applications because of its characteristics such as high speed, no backlash and simplicities. A precision positioning system which is composed of linear motion(LM) guide and linear motor is widely used since it has easy controllable property but this system has low accuracy problem caused by friction of the LM guide. In this study, a scanning type XY stage is manufactured and some experiments is performed to improve the accuracy of the stage.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.813-816
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• 1991

Direct-drive SCARA-type industrial robots are increasingly used in the assembly process of small mechanical parts as well as electronic components, which uses direct-drive (DD) motors instead of reduction gear-type conventional motors for the actuators of manipulator arms. There are many advantages in using DD motors for robots, such as no backlash, low friction, high mechanical stiffness capability for fast and precise arm control, and high repeatability of positioning. However, there exist a number of difficulties which must be overcome to ensure proper construction and operation; increasing effects of load veriation and nonlinear and coupling dynamics, severe vibration caused by resonance of the manipulator components and low mechanical damping, etc. In order to handle these difficulties, lots of efforts have been made such as reduction of the arm inertia and elimination of the resonance, Performance evaluation of a recently developed, domestic DD robot shows that it works excellently compared with conventional robots. It, however, requires proved reliability and price competitiveness against its foreign counterparts.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.1014-1017
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• 1988

Direct-drive robots have excellent features including no backlash, small friction, and high mechanical stiffness. However, dynamic coupling among joints as well as nonlinear effects become more prominent than traditional robots with reducers. Another critical issue is that the robot becomes more sensitive to the change of load. In this paper, we develop a simple current feedback scheme for reducing the influence of dynamic coupling and load sensitivity on the direct-drive robots. The method is implemented on a 2 d.o.f. planar direct-drive robot. Then the validity of the method is demonstrated through experiments.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.23 no.7 s.166
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• pp.1238-1244
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• 1999

Using a cylindrical worm gear under the actual condition of static loading, tooth fillet strains and transmission errors have been measured. The maximum strain occurs on the filet region of the center of the 1st mating tooth. Tooth fillet strain changes most sensitively according to the variations of the center distance and recess side eccentricity than the access side eccentricity. Even the no-backlash worm gear shows the transmission errors.