• Journal of the Korean Society for Precision Engineering
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• v.21 no.12
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• pp.67-74
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• 2004

Linear motor has been considered to be the most suitable electric machine for high speed and high precision linear motion control. Thrust of linear motor is one of the important factor to specify motor performance. Maximum thrust can be obtained by increasing the current in conductor and is relative to the sizes of conductor and magnet. But, the current and the size of conductor have an effect on temperature of linear motor. Therefore, it is practically important to find design results that can effectively maximize the thrust of linear motor within limited range of temperature. Finite element analysis was applied to calculate thrust and numerical solutions were compared with experiment. The temperature of the conductor was calculated by the thermal resistance which was measured by experiment. The optimum design process was coded by the ADPL of ANSYS which is a commercial finite element analysis software. Design variables and constraints were chosen based on manufacturing feasibility and existing products. As a result, it is shown that temperature of linear motor plays an important role in determining optimum design.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.499-500
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• 2006

The electrode wear in micro-EDM significantly deteriorates the machining accuracy. In this regard, electrode wear needs to be compensated in-process to improve the product quality. Therefore, there are substantial amount of research about electrode wear. In this study a control method for micro-EDM using discharge pulse counting is proposed. The method is based on the assumption that the removed workpiece volume is proportional to the number of discharge pulses, which is verified from experimental results analyzing geometrically machined volume according to various number of discharges. Especially, the method has an advantage that electrode wear does not need to be concerned. The proposed method is implemented to an actual micro-EDM system using high speed data acquisition board, simple counting algorithm with 3 axis motion system. As a result, it is demonstrated that the volume of hole machined by EDM drilling can be accurately estimated using the number of discharge pulses. In EDM milling process a micro groove without depth variation caused by electrode wear could be machined using the developed control method. Consequently, it is shown that machining accuracy in drilling and milling processes can be improved by using process control based on the number of discharge pulses.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2007.06a
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• pp.11-14
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• 2007

An additive servo-system is developed to improve straightness of linear motor stages. For linear motor stages used in the field of high-precision linear motion process, high straightness accuracy is necessary as well as positioning accuracy in the longitudinal axis. In such cases, machining and assembling cost increases to improve the straightness accuracy. An electro-magnetic actuator which is relatively cost effective than any other conventional servo-systems is suggested to compensate the fixed straightness error. To overcome the compensation error due to modeling error and friction disturbance, a sliding mode control is addressed. The effectiveness of the suggested mechanism and the control are illustrated along with some experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1312-1315
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• 1996

Polishing work for a curved surface die demands simple and repetitive operations and requires much time while it also demands high precision. Therefore it is operated by skilled worker in handiwork. But workers avoid polishing work gradually because of the poor environments such as dust and noise. In order to reduce the polishing time and to alleviate the problem of shortage of skilled workers, researches for automation of polishing have been pursued in the developed countries such as Japan. In this research we develop a polishing robot with 2 degrees of freedom motion and pneumatic system, and attach it to machining center with 3 degrees of freedom to form an automatic polishing system which keeps the polishing tool vertically on the surface of die and maintains constant pneumatic pressure. The developed polishing robot is controlled by real time sliding mode control using DSP(digital signal processor). A synchronization between machining center and polishing robot is accomplished by using M code of machining center. A performance experiment for polishing work is executed by the developed polishing robot.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.770-775
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• 1987

In this paper, design and development experiences of a vision based robotic assembly system for electronic components are described. Specifically, the overall system consists of the following three subsystems each of which employs a 16 bit Preprocessor MC 68000 : supervisory controller, real-time vision system, and servo system. The three microprocessors are interconnected using the time shared common memory bus structure with hardwired bus arbitration scheme and operated as a master-slave type in which each slave is functionally fixed in view of software. With this system architecture, the followings are developed and implemented in this research; (i) the system programming language, called 'CLRC', for man-machine interface including the robot motion and vision primitives, (ii) real-time vision system using hardwired chain coder, (iii) the high-precision servo techniques for high speed de motors and high speed stepping motors. The proposed control system were implemented and tested in real-time successfully.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.194-197
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• 1999

Automatic weld bead removal system is consisted of bead removal tool, bead profile measurement system and tool motion control system. In this paper, design of weld bead profile measurement system which is used for automatic weld bead removal system is described. The system measures the weld bead position, normal vector of the auto-body and weld bead profile. The optical sensor with structured laser beam is used as a sensor and comparison of the sensor that can be used for this purpose is discussed in detail. The measurement process and the related software developed for this purpose are also described. A median filter, average filter and long line filters are used and their effects in bead profile measurement are discussed. The measurement system is integrated into automatic bead removal system and is used to remove weld bead in rear pillar of automotive body. The whole system operates well in automotive body assembly line and thus the system is proved to be good for this purpose.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.446-451
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• 2000

In this paper, a new adaptive cross-coupling control (CCC) algorithm with an improved contour error model is proposed to maintain contouring precision in high-speed nonlinear contour machining. The proposed method utilizes variable controller gains based on the instantaneous curvature of a contour and the feedrate command. The proposed method is evaluated and compared with the conventional CCC for nonlinear contouring motion through computer simulations. The simulation results show that the proposed CCC improves the contouring accuracy more effectively than the existing method.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.751-756
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• 2008

This paper presents the fluid characteristics of the spool actuator used for construction vehicles. A spool actuator is used for directional control of pressurized fluid and has a roll to lock the fluid flow. It is important to design the spool actuator optimally because this actuator is actuated in the sleeve by sliding motion and has some critical design parameters such as stick-slip, leakage and shock pressure. The parameters like stick-slip and leakage can be solved by precision manufacturing but the shock pressure which is taken place when the fluid direction is changed needs the parameter analysis procedure throughly. In this study, mathematical modeling and 2 & 3 phase flow dynamics analysis of the spool actuator were achieved. Using suggested model, all possible operating conditions were analyzed.

• The Journal of Korea Robotics Society
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• v.7 no.3
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• pp.161-170
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• 2012

The Industrial Ethernet technology enables advanced control architectures and offers several advantages for high precision multiple motors actuation. This paper presents the implementation and analysis of a motor drive with EtherCAT, an industrial standard for real time Ethernet. Considering the characteristics of the implemented software and the network interface, the motion and time-response of motor actuation for the networked Mobile Inverted Pendulum have been analyzed. Using the analysis with the task execution times measured from the developed drive, the performance characteristics of the drive in respect of the maximum achievable throughput have been verified by comparing to the conventional RS232.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2007.06a
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• pp.263-265
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• 2007

An ultrasonic linear motor using lambda shape vibrators has been designed and fabricated. The multiway ultrasonic motors mainly consist of an lambda shape ultrasonic vibrator which generates elliptical motions in beat. The lambda shape ultrasonic linear motor use longitudinal and bending vibration mode. In order to high precision motion control and multiway moving, piezoceramics were adhered to lambda shape brass elastic material. The finite element method was used to optimize dimension of ultrasonic vibrator and direction of vibratory displacement. As a result of estimating the characteristics of the ultrasonic linear motor, The results have shown that the lambda shape ultrasonic linear motor can be moved multiwav by using the phase control. Close agreement between the FEM results and experimental results obtained for the lambda shape ultrasonic linear motor.