• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.9
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• pp.982-989
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• 2009

Parallel Kinematic Mechanism (PKM) is a device to perform the various motion in three-dimensional space and it calls for six degree of freedom. For example, Parallel Kinematic Mechanism is applied to machine tools, medical equipments, MEMS, virtual reality devices and flight motion simulators. Recently, many companies have tried to develop new Parallel Kinematic Mechanism in order to improve the cycle time and the precisional tolerance. Parallel Kinematic Mechanism uses general universal joint and spherical joint, but such joints have accumulated tolerance problems. Therefore, it causes position control problem and dramatically life time reduction. This paper focused on the rolling element to improve sliding precision in new sliding ball joint development. Before the final design and production, it was confirmed that new sliding ball joint held a higher load and a good geometrical structure. FEM analysis showed a favorable agreement with tensile and compressive testing results by universal testing machine. In conclusions, a new sliding ball joint has been developed to solve a problem of accumulated tolerance and verified using tensile and compressive testing as well as FEM analysis.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.8 s.239
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• pp.1123-1131
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• 2005

In this paper, a formulation for a spatial sliding joint, which a general multibody can move along a very flexible cable, is derived using absolute nodal coordinates and non-generalized coordinate. The large deformable motion of a spatial cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. And the non-generalized coordinate, which is neither related to the inertia forces nor external forces, is used to describe an arbitrary position along the centerline of a very flexible cable. In the constraint equation for the sliding joint, since three constraint equations are imposed and one non-generalized coordinate is introduced, one constraint equation is systematically eliminated. Therefore, there are two independent Lagrange multipliers in the final system equations of motion associated with the sliding joint. The development of this sliding joint is important to analyze many mechanical systems such as pulley systems and pantograph/catenary systems for high speed-trains.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1286-1293
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• 2008

This paper proposes a realization of robust trajectory tracking for an industrial robot by using PD-sliding mode hybrid control. The PD control has a good performance in the transient period while the sliding mode control has robustness against the system uncertainties. The proposed control method is proposed for the control of a multi-joint robot by taking advantages of both the PD and sliding mode controls. The embodiment of distributed controllers that drive 4-DOF axes has evaluated through experiments with the multi-joint robot AT1. The PD-sliding mode algorithm which is proposed in this paper shows a good performance in the transient period and robustness against disturbances and This paper shows accuracy of end-effector.

• Journal of the Korean Society of Safety
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• v.31 no.5
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• pp.89-94
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• 2016

The objective of this study was to estimate the dynamic behavior of a personal rapid transit(PRT) track system using a rail of rectangular tube section and a rail joint of sliding type, and to compare the results with the normal rail and rail joint of a PRT track system by performing field measurements using actual vehicles running along the service lines. The measured vertical displacement of rail and sleeper, and vertical acceleration of rail for the normal rail and rail joint section were found to be similar, and the rail joint of sliding type satisfied the design specifications of the track impact factor for a conventional railway track. The experimental results showed that the overall dynamic response of the rail joint were found to be similar to or less than that of the normal rail, therefore the rail joint of sliding type for PRT track system was sufficient to ensure a stability and safety of PRT track system.

• Proceedings of the Korean Geotechical Society Conference
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• 2000.03b
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• pp.457-464
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• 2000

Stereographic method is a general and basic method to analyse sliding failure potential of rock slope. Region of failure analysis using stereographic method extend to curved slope from straight slope in this paper, Curved slope is defined as the multi-face slope with free surface more than two face and has different characteristics from straight single face slope. Individual daylight envelopes of free surfaces are combined into total daylight envelope of multi-face slope. So, sliding envelope of multi-face slope is the daylight envelope except friction cone. Specially, If only single joint set is developed in the slope, single plane sliding(or plane failure) is impossible in the single-face straight slope, but possible in the multi-face slope. In the multi-face slope with only one joint set, single plane sliding occurs when orientation of sliding plane is between two side slope orientation in the sliding envelope.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2000.06a
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• pp.42-47
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• 2000

The friction and lubrication characteristics of joint cartilage were investigated using the metatarso-phalangeal joint cartilage of rabbit against rotating stainless steel disk. Friction tests were conducted by dry and bovine serum lubricated sliding at room and body temperatures. For the dry sliding tests, low friction coefficient of 0.1-0.15 was observed at the early period of test, and then the friction coefficient increased as a test continued. With increasing applied load the early period of low friction lengthens. For the lubricated sliding tests, the coefficient of friction decreased as the applied load increased. And also the coefficient of friction decreased continuously to 0.07 as the test duration increases. These results can be interpreted that the squeeze or weeping lubrication mechanism dominates the friction and lubrication characteristics in the joint cartilage of rabbit.

• Tribology and Lubricants
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• v.17 no.4
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• pp.307-311
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• 2001

The friction and lubrication characteristics of joint cartilage were investigated using the metatarso-phalangeal joint cartilage of rabbit against rotating stainless steel disk. Friction tests were conducted by dry and bovine serum lubricated sliding at room and body temperatures. For the dry sliding tests, low friction coefficient of 0.1-0.15 was observed at the early period of test, and then the friction coefficient increased as a test continued. With increasing applied load the early period of low friction lengthens. For the lubricated sliding tests, the coefficient of friction decreased as the applied load increased. And also the coefficient of friction decreased continuously to 0.07 as the test duration increases. These results can be interpreted that the squeeze or weeping lubrication mechanism dominates the friction and lubrication characteristics in the joint cartilage of rabbit.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.3
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• pp.125-132
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• 2003

The joint method and characteristics of MC nylon and metal are analyzed. Considering the productivity and economics, two materials are joined with the process of turning, knurling, and induction heating. The joint strength is determined by adhesion of the melted nylon, the size of knurl, and the interference from the difference of the diameters. The adhesion strength of the melted nylon is measured. The effects of the knurl size and diameter difference are analyzed with the statistical methods. Finally the joint strength is analyzed in the environments of low, room, and high temperature. Based on this study, the nylon/metal material is expected to be widely used as the sliding machine elements with good lubrication and strength properties.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.2
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• pp.150-156
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• 2004

In this paper, the dynamic behavior of a very flexible cable due to moving multibody system along its length is presented. The very deformable motion of a cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. Formulation for the sliding joint between a very flexible beam and a rigid body is derived. In order to formulate the constraint equations of this joint, a non-generalized coordinate, which has no inertia or forces associated with this coordinate, is used. The modeling of this sliding joint is very important to many mechanical applications such as the ski lifts. cable cars, and pulley systems. A multibody system moves along an elastic cable using this sliding joint. A numerical example is shownusing the developed analysis program for flexible multibody systems that include a large deformable cable.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2010.05a
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• pp.13-16
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• 2010

This study is an Investigation on the Watertightness Properties of Rain-Block System on the Sliding-Roof Joint of Large-Span Membrane Structures. In this experimental, we test the watertightness performance of joint part of sliding door in roof of large span membrane structure(for pilot project) under environment of rain and wind. A shape of rain water blocking systems of joint part in sliding door verifies the defects and effects of water leakage prevention in precipitation with the wind conditions. For obtaining watertightness of large span membrane structures, it is necessary quality of joints and performance, and quality of membrane material of a retractable roof as well as a closed roof. Also, for obtaining quality in joints, it is essential to make a watertightness guideline for design of large-span membrane.