• 한국윤활학회:학술대회논문집
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• 한국윤활학회 2002년도 proceedings of the second asia international conference on tribology
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• pp.365-366
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• 2002

The sliding wear behavior of ultra high molecular weight polyethylene (UHMWPE) was examined on a novel low temperature degradation-free zirconia/alumina composite material and conventional alumina and zirconia ceramics used for femoral head in total hip joint replacement. The wear of UHMWPE pins against these ceramic disks was evaluated by performing linear reciprocal sliding and repeat pass rotational sliding tests for one million cycles in bovine serum. The weight loss of polyethylene against the novel low temperature degradation-free zirconia/alumina composite disks was much less than those against conventional ceramics for all tests. The mean weight loss of the polyethylene pins was more io the linear reciprocal sliding test than in the repeal pass rotational sliding lest for all kinds of disk materials. Neither the coherent transfer film nor the surface damage was observed on the surface of the novel zirconia/alumina composite disks during the test. The observed r,'stilts indicated that the wear of the polyethylene was closely related to contacting materials and kinematic motions. In conclusion, the novel zirconia/alumina composite leads the least wear of polyethylene among the tested ceramics and demonstrates the potential as lhe alternative materials for femoral head in total hip joint replacement.

• 대한기계학회논문집
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• 제17권2호
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• pp.385-392
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• 1993

This paper presents a new stable composite control law for the flexible joint robot manipulators, which incorporate an additional stabilizing control law with the sliding property. The singularly perturbated models in this paper include inertia moments which are functions or the deformations of actuators as well as link positions. The values of renewedly defined fast controller variables are computer from the corrected reduced-order model without additional computational loads. Proposed schemes are compared with the conventional one. The simulations for 2 DOF flexible joint manipulator show that the proposed schemes are more stable than the conventional scheme, and especially effective for the manipulator with high joint-flexibilities.

• 한국기계가공학회지
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• 제2권3호
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• pp.84-89
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• 2003

The joint method and characteristics of lubricant Impregnated 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 parameters affecting induction heating process are analyzed. The adhesion strength of the melted nylon is measured. Finally the joint strength is analyzed in the environments of low, room, and high temperature. The nylon/metal Joined material is expected to be widely used as the sliding machine elements with good friction and shear strength.

• Structural Engineering and Mechanics
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• 제6권1호
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• pp.63-76
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• 1998

This paper presents dynamic responses of structures with sliding base which limits the translation of external loads from ground excitation. A discrete element model based on the discontinuous deformation analysis method is proposed to study this sliding boundary problem. The sliding base is simulated using sets of fictitious contact springs along the sliding interface. The set of contact spring is to translate friction force from ground to superstructure. Validity of the proposed model is examined by the closed-form solutions of an idealized mass-spring structural model subjected to harmonic ground excitation. This model is also applied to a problem of a three-story structural model subjected to the ground excitation of 1940 El Centro earthquake. Analyses of both sliding-base and fixed-base conditions are performed as comparisons. This study shows that using this model can simulate the dynamic response of a sliding structure with frictional cut-off quite accurately. Results reveal that lowering the frictional coefficient of the sliding joint will reduce the peak responses. The structure responses in little deformation, but it displaces at the end of excitation.

• International Journal of Control, Automation, and Systems
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• 제4권5호
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• pp.545-558
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• 2006

In this paper, PD-like visual servoing is modified in two ways: a sliding-mode observer is applied to estimate the joint velocities, and a RBF neural network is used to compensate the unknown gravity and friction. Based on Lyapunov method and input--to-state stability theory, we prove that PD-like visual servoing with the sliding mode observer and the neuro compensator is robust stable when the gain of the PD controller is bigger than the upper bounds of the uncertainties. Several simulations are presented to support the theory results.

• The Journal of Korean Physical Therapy
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• 제27권1호
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• pp.24-29
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• 2015

Purpose: The purpose of this study was to investigate the effect of lower limb training using a sliding rehabilitation machine on the foot motion and stability in stroke patients. Methods: Thirty participants were allocated to two groups: Training group (n=15) and Control group (n=15). Subjects in the control group received physical therapy for 30 minutes, five times per week, and those in the training group received lower limb training using a sliding rehabilitation machine for 30 minutes, five times per week, with physical therapy for 30 minutes, five times per week, during a period of six weeks. Heel rotation, hallux stiffness, foot balance, metatarsal load, toe out angle, and subtalar joint flexibility were measured by RS-scan. Results: Significant improvement of the foot motion (hallux stiffness, meta load) and the foot stability (toe out angle, subtalar joint flexibility) was observed in the training group. Conclusion: This study demonstrated that lower limb training using a sliding rehabilitation machine is an effective intervention to improve the foot motion and stability.

• Structural Engineering and Mechanics
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• 제43권1호
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• pp.53-70
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• 2012

Sliding cable joints have been developed for the cable dome structures and the suspen-dome structures to reduce the cable pre-stressing loss and obtain a uniform inner force in each hoop cable. However, the relevant investigation is less addressed on the structural behavior of the cable dome structures and the suspen-dome structures with sliding cable joints due to the lack of analysis techniques. In this paper, a closed sliding polygonal cable element was established to analyze the structural behavior of the cable dome structures and the suspen-dome structures with sliding cable joints. The structural behaviors with sliding cable joints were obtained.

• 한국전산구조공학회논문집
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• 제30권1호
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• pp.55-61
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• 2017

최근 콘크리트 궤도 슬래브 하면과 교량 바닥판 사이에 저마찰 슬라이드층을 형성하는 궤도 시스템인 슬라이딩 궤도와 관련된 연구가 활발히 진행되고 있다. 본 연구에서는 슬라이딩 궤도에서 열차 주행에 따른 횡방향 하중을 저항하기 위해 설치되는 횡방향 지지 콘크리트 블록의 전단 내하력에 대한 연구를 수행하였다. 횡방향 지지 콘크리트 블록의 전단 내하력 산정을 위해 타설경계면에서의 콘크리트 마찰 및 철근의 다월 거동을 고려한 산정 기법을 개발하다. 제안된 산정 기법은 기존의 실험에서 측정된 전단 내하력을 13~23% 정도 보수적으로 예측하는 것으로 나타났다. 이는 균열면 골재 맞물림 효과를 무시한 것에 따른 것으로, 현장에서의 타설경계면 상태가 불확실한 것을 고려할 때 횡방향 지지 콘크리트 블록에 대한 안전측 설계를 위해 제안된 산정 기법이 합리적인 것으로 판단된다. 제안된 전단 내하력 산정 기법을 토대로 횡방향 지지 콘크리트 블록에 대한 설계 방안을 마련하였다.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.78-83
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• 2002

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fully-actuated ones. However the control of an underactuated manipulator is much more difficult than that of fully- actuated robot manipulator. In this paper a complex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally a simulation for this control system is executed for evaluating the effectiveness of the designed sliding mode controller.

• 대한기계학회논문집A
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• 제23권6호
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• pp.903-911
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• 1999

A high speed tracking control system for 6-6 Stewart platform manipulator is designed for performing the model based joint-axis sliding mode control. Because of the complex dynamics and kinematics of the Stewart platform manipulator, two computer systems, consisting of a PC and a DSP, are adopted, so that real time tasks are run in synchronous and asynchronous modes. It is experimentally proven that the proposed control system makes the convenience in implementation of model based tracking control, so that it can achieve effective tracking control under relatively high speed and additional payload conditions.