• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.355-360
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• 2002

To calibrate a non-redundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism's kinematic structure and measurement values. However, the calibration algorithm for a non-redundant case does not apply fur a redundantly actuated parallel mechanism, because the angle error of the actuating joint varies with position and the geometrical constraint fails to be consistent. Such change of joint angle error comes from constraint torque variation with each kinematic pose (meaning position and orientation). To calibrate a redundant parallel mechanism, one therefore has to consider constraint torque equilibrium and the relationship of constraint torque to torsional deflection, in addition to geometric constraint. In this paper, we develop the calibration algorithm fir a redundantly actuated parallel mechanism using these three relationships, and formulate cost functions for an optimization algorithm. As a case study, we executed the calibration of a 2-DOF parallel mechanism using the developed algorithm. Coordinate values of tool plate were measured using a laser ball bar and the actual kinematic parameters were identified with a new cost function of the optimization algorithm. Experimental results showed that the accuracy of the tool plate improved by 82% after kinematic calibration in a redundant actuation case.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.193-204
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• 2016

This paper presents an anthropomorphic finger prosthesis for amputees whose proximal phalanx is mutilated. The finger prosthesis to be proposed is able to make the amputees to perform the natural motion such as flexion/extension as well as self-adaptive grasping motion as if normal human finger does. The mechanism of finger prosthesis with three degrees-of-freedom (DOFs) consists of two five-bar and one four-bar linkages. Two passive components composed of torsional spring and mechanical stopper and only one active joint are employed in order to realize an underactuation. Each passive component is installed into the five-bar linkage. In order to activate the finger prosthesis, it is required for the user to flex and extend the remaining proximal phalanx on the metacarpophalangeal (MCP) joint, not an electric motor. Thus the finger prosthesis conducts not only the natural motion according to his/her intention but also the grasping motion through the deformation of springs by the object for human finger-like behavior. In order to reveal the operation principle of the proposed mechanism, kinematic analysis is performed for the linkage design. Finally both simulations and experiments are conducted in order to reveal the design feasibility of the proposed finger mechanism.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1990.10a
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• pp.181-185
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• 1990

In the present study, the following factors are analyzed systematically using the theoretical and experimental methods, which have the significant influence on the quality of VTR tape path system in order to develope the high performance and quality in VTR mechanism: 1) Vibration characteristics of the deck including the tape path sytem, 2) Modeling the global tape path, 3) Torsional vibration of the VTR drum. 4) Capstan system, 5) Tension bar, 6) Stick-slip phenomenon of the running tape.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.341-345
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• 1986

In the course of robot control system building, there are problems in the position control loop of 3rd axis of robot manipulator. The problems are summerized as two: one is uncontrollability of position and the other is oscillation. And these problems are analyzed through experiment, and it is known that the cause of problems in torsional vibration of 3rd axis. So that these two problems are solved by noise immunity enhancement and lowering of PI controller gain.

• Smart Structures and Systems
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• v.25 no.5
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• pp.515-530
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• 2020

A new type of pure torsional yielding damper made from steel pipe is proposed and introduced. The damper uses a special mechanism to apply force and therefore applies pure torsion in the damper. Uniform distribution of the shear stress caused by pure torsion resulting in widespread yielding along pipe and consequently dissipating a large amount of energy. The behavior of the damper is investigated analytically and the governing relations are derived. To examine the performance of the proposed damper, four types of the damper are experimentally tested. The results of the tests show the behavior of the system as stable and satisfactory. The behavior characteristics include initial stiffness, yielding load, yielding deformation, and dissipated energy in a cycle of hysteretic behavior. The tests results were compared with the numerical analysis and the derived analytical relations outputs. The comparison shows an acceptable and precise approximation by the analytical outputs for estimation of the proposed damper behavior. Therefore, the relations may be applied to design the braced frame system equipped by the pure torsional yielding damper. An analytical model based on analytical relationships was developed and verified. This model can be used to simulate cyclic behavior of the proposed damper in the dynamic analysis of the structures equipped with the proposed damper. A numerical study was conducted on the performance of an assumed frame with/without proposed damper. Dynamic analysis of the assumed frames for seven earthquake records demonstrate that, equipping moment-resisting frames with the proposed dampers decreases the maximum story drift of these frames with an average reduction of about 50%.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.10
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• pp.935-945
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• 2014

This paper presents a new road generative system that employs a pad of preventive overspeed or tollgate. The system consists of pad, shaft, torsional damper, oneway-clutch, gear system, and electricity generator components. When the car driven through the road generation system, it occurred to surplus energy in the DC power. In order to maximize the power of electricity energy harvester, the simulation software is developed. It is used to determine parametric dimension for optimal design with the theoretically calculated results from the simulation software. The transient responses at the conditions of low and high vehicle speed are compared with the calculated results as torque, impact force, power, out energy etc. Consequently, before design a road generation system, the analysis of simulation results shows that the proposed concept and system has efficiency and confidence.

• Journal of Industrial Technology
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• v.25 no.A
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• pp.87-93
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• 2005

Three-dimensional ultrasonic probes being applied to the medical imaging can be grouped into three depending on the scanning methods, which are a mechanical type system, a free-hand system, and 2D phased arrays system. A mechanical type scanner uses a mechanically driven transducer to acquire series of 2D plane images. By integrating these images, a 3-D medical image can be constructed. A motor driving mechanism is a conventional choice for mechanically driving a transducer assembly which picks the raw ultrasonic images up. In this paper we attempt to design a 3D ultrasonic probe which has a operating mechanism of s tilting 3-D scanning. The motion of a transducer assembly of the ultrasonic probe is analytically modelled. We propose a selection procedure for the diameter of a wire rope driving the transducer assembly and the size of torsional spring which gives an initial tension to wire ropes.

• Transactions on Electrical and Electronic Materials
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• v.17 no.1
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• pp.7-12
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• 2016

This paper proposes a metal contact RF MEMS switch which utilizes a see-saw mechanism to acquire a switching action. The switch was built on a quartz substrate and involves vertical deflection of the beam under an applied actuation voltage of 5.46 volts over a signal line. The see-saw mechanism relieves much of the operation voltage required to actuate the switch. The switch has a stiff beam eliminating any stray mechanical forces. The switch has an excellent isolation of −90.9 dB (compared to − 58 dB in conventional designs ), the insertion of −0.2 dB, and a wide bandwidth of 88 GHz (compared to 40 GHz in conventional design ) making the switch suitable for wide band applications.

• Proceedings of the Korean Institute of Surface Engineering Conference
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• 2017.05a
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• pp.126-126
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• 2017

Using first principles calculations we unveil fundamental mechanism of hydrolysis reactions of two hazardous chemicals $PCl_3$ and $POCl_3$ with molecular water clusters nearby. It is found that the water molecules play a key role as a catalyst significantly lowing the activation barriers by transferring its protons to the reaction intermediates. Interestingly, torsional angles of molecular complexes at transition states are identified as a vital descriptor on the reaction rate. Analysis of charge distribution over the complexes further reinforces the finding with atomic level correlation between the torsional angle and variation of the orbital hybridization state of P in the complex. Electronic charge separation (or polarization) enhances thermodynamic stability of the activated complex at transition state and reduces the activation energy through hydrogen bonding network with water molecules nearby. Calculated potential energy surfaces (PES) for the hydrolysis reactions of $PCl_3$ and $POCl_3$ depict their two contrastingly different profiles of double- and triple-deep wells, respectively. It is ascribed to the unique double-bonding O=P in the $POCl_3$. Our results on the activation free energy show well agreements with previous experimental data within $7kcalmol^{-1}$ deviation.

• Steel and Composite Structures
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• v.8 no.5
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• pp.389-402
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• 2008

In December 2005, one(A) of the two pre-engineered warehouse buildings in the port of K City of Korea was completely destroyed and the other(B) was seriously damaged to be demolished. Over-loaded snow and unexpected blast of wind were the causes of the accident and destructive behavior was brittle fracture caused by web local buckling and lateral torsional buckling at the flange below rafter. However, the architectural design technology of today based on material non-linear method does not consider the tolerances to solve the problem of such brittle fracture. So, geometric non-linear evaluation which includes initial deformation, width-thickness ratio, web stiffener and unbraced length is required. This study evaluates the structural safety of 4 models in terms of width-thickness ratio and unbraced length using ANSYS 9.0 with parameters such as width-thickness ratio of web, existence/non-existence of stiffener and unbraced length. The purpose of this study is to analyze destructive mechanism of the above-mentioned two warehouse buildings and to provide ways to promote the safety of pre-engineered buildings.