• The Journal of the Acoustical Society of Korea
• /
• v.10 no.6
• /
• pp.23-42
• /
• 1991

본 논문은 시스템 운동학적 자유보다도 많은 수의 input을 사용하여 비선형 구속조건을 갖는 메 카니즘의 정역학적 평형을 유지시키는 경우와 같이 일반 로봇 시스템의 협력 작업시 일어나는 antagonistic stiffness를 연구하였다. 이러한 antagonistic 상황은 coordinations of multiple manipulators, multi-fingered end-efector, walking machine, 그리고 인간의 움직임등을 포함하는 많은 로봇 시스템의 작동시에 일어난다. Antagonism으로 야기되는 stiffness는 이러한 시스템의 특성을 파악하는 좋은 척도 가 될 수 있다. Antagonistic stiffness의 개념은 시스템을 구성하는 강체들의 상대 변위의 함수로 얻어 지기 때문에 바강체들이 변형하는 특성을 나타내는 structural stiffness와는 구별된다. 따라서 이 개념은 여유입력들에 의해 얻어지는 시스템의 effective stiffness로 해석될 수 있고, 일반 로봇 mechanism의 개 경로 안정도의 척도로 이용될 수 있으며 목적에 따라서 stiffness의 제어가 가능한 비선형 spring을 만 드는 데에도 응용이 가능하다. 본 논문에서는 antagonism이 일어나는 몇가지 상황에서의 stiffness 특성 과 개경로 안정성 조건등을 해석적, 기하학적 관점에서 다루었다.

• Journal of the Korean Society of Safety
• /
• v.14 no.4
• /
• pp.78-84
• /
• 1999

A compact air-preheating type heat exchanger was developed and tested for the ultra-high temperature heat recovery applications. For the direct use of exhaust gases up to $1200^{\circ}C$, the heat exchanger adopted a ceramic core with high strength and low thermal expansion coefficient less than $1{\times}10^{-6}^{\circ}C^{-1}$. The ceramic core was fabricated by special extrusion and bonding techniques. To minimize thermal stresses in the core, spring-loaded sealing mechanism was designed and successfully installed. 1-pass air flow scheme was adopted for the compactness and cost-savings. The pressure test for the ceramic core showed no failure under 35 kPa and less than 3% leak under 7 kPa. Flue gas simulation system was developed to investigate the performance of the heat exchanger. The test results showed normal operations of the heat exchanger up to $1200^{\circ}C$ of exhaust gases and relatively high heat recovery efficiencies of 31～39% depending upon exhaust gas temperatures..

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.9 no.6
• /
• pp.51-58
• /
• 2010

This paper suggests a control technique of the two axes precision stage. The stage is supported by four flexible spring hinges and driven by two piezoelectric actuators. The dynamic motion of the stage is analysed by the finite element method and identified by the frequency domain modeling technique based on the experimental data. The sliding mode control with integrator is applied to improve the tracking ability of the stage to the complex reference input signal. Experimental results demonstrate that the proposed modeling schemes and control algorithm can be used effectively for the two axes stage.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.343-348
• /
• 2007

Molecular dynamics study of thermal NIL (Nano Imprint Lithography) process is performed to examine stamp-resist interactions. A layered structure consists of Ni stamp, poly-(methylmethacrylate) thin film resist and Si substrate was constructed for isothermal ensemble simulations. Imposing confined periodicity to the layered unit-cell, sequential movement of stamp followed by NVT simulation was implemented in accordance with the real NIL process. Both vdW and electrostatic potentials were considered in all non-bond interactions and resultant interaction energy between stamp and PMMA resist was monitored during stamping and releasing procedures. As a result, the stamp-resist interaction energy shows repulsive and adhesive characteristics in indentation and release respectively and irregular atomic concentration near the patterned layer were observed. Also, the spring back and rearrangement of PMMA molecules were analyzed in releasing process.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.27 no.8
• /
• pp.21-29
• /
• 2013

The functional behaviors of human standing postural control were investigated when they were exposed to long-term horizontal vibration in the sagittal plane. For complexity of human postural control, a useful alternative method that has been based on a black-box approach was taken; that is, where the feedback mechanism was lumped into a single element. A motor-driven support platform was designed as a source of vibration. The AC Servo-controlled motors produced continuous anterior/posterior (AP) motion. The data were analyzed both in the time and frequency domain. The cross-correlation and coherency functions were estimated. Subjects behaved as a non-rigid pendulum with a mass and a spring throughout the whole period of the platform motion, as consistent with the plan chosen for this study.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2009.04a
• /
• pp.239-244
• /
• 2009

This paper suggests a precision positioning control technique of a precision positioning stage with coupling effects. The precision positioning stage is supported by four flexible spring hinges and driven by two piezoelectric actuators. The dynamic characteristics of the precision positioning stage is modeled and identified by the FEM analysis. The dynamic characteristics of the stage are also identified by the frequency domain modeling technique based on the experimental data. Reliability of two modeling methods is examined by comparing the numerically and experimentally produced responses of the stage. This paper proposes a sliding mode control technique with integrator to improve the tracking ability of the precision positioning stage to the complex input signal using. To demonstrate the effectiveness of the proposed modeling schemes and control algorithm, experiment validations are performed.

• Proceedings of the KSME Conference
• /
• 2001.11b
• /
• pp.118-123
• /
• 2001

The linear compressor have been widely used for pressure wave generation in the Stirling cryocooler and Stirling type pulse tube cryocooler for tactical purpose. The linear compressor has small and compact structure, and long life due to having non-contact sealing mechanism. and the pressure drop through regenerator was ver important role in the motion of displacer in the expander of the Stirling cryocooler. In this study, the characteristic of the linear compressor and the pressure drop through regenerator in the expander was experimentally investigated. The results show the resonance of the compressor is very important to get maximum performance. and the gas spring force in the compression space of the compressor has effect on the characteristic of reonance. and the results show the pressure drop through regenerator is very small than operating pressure change.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2006.04a
• /
• pp.639-646
• /
• 2006

A nonlinear finite element analysis is carried out to predict the ultimate internal pressure and failure mechanism of a 1/4 scale prestressed concrete containment vessel(PCCV) model using the commercial code ABAQUS. Therefore, this paper is mainly focused to compare the influence of concrete material model, tension stiffening parameter, uplift phenomenon and basemat. From the analysis results, nonlinear behavior of the PCCV showed a substantially different aspects in accordance with the nonlinear material model for the concrete as well as tension stiffening parameter. The boundary conditions beneath the basemat are considered to be a fixed condition and a nonlinear spring element to compare the influence of the uplift. The finite element analysis is considered with and without a basemat to find out the influence of the basemant itself. From the analysis results, the nonlinear behavior of the PCCV is entirely similar for the two cases.

• Journal of the Semiconductor & Display Technology
• /
• v.2 no.2
• /
• pp.31-37
• /
• 2003

This paper presents a measurement system of mechanical property using dual servo system. There are many kinds of method to measure material properties such as tensile test, indention and bending test. It is highly required to measure the properties of nano-sized material and structure. However, It is need more accurate measurement system, more stable and frequency response than conventional test. In this paper, we designed the dual servo system for a measuring instrument The dual servo system consisting of a coarse stage and a fine motion stage with VCM and PZT is proposed. Mechanical mechanism is designed with the leaf spring type of flexure hinge joint. Lead compensator is applied to this control system, and is designed by PQ method.

• Proceedings of the KSR Conference
• /
• 2000.11a
• /
• pp.484-490
• /
• 2000

The freight wagon with weld fabricated 1-piece bogies, which was developed to increase operating speed, reveals its difficulties in maintenance. The weld-fabricated bogies were composed of two-stage coil spring and dry friction damping mechanism. The inborn wear parts and rather complicated structure mattes bogie maintenance difficult. In order to relieve this difficulties, the application of maintenance free rubber suspension is proposed by bogie maunfacturer, Taeyang Precision Limited. This study was conducted to determine design parameters of proposed rubber suspension by means of vehicle dynamic simulation and parametric study. The target critical speed of bogie was set over 150km/h for the preparation of further speed-up of freight wagon.