• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.3
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• pp.1-7
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• 2006

By the reason of increased demand of high productivity, the researches on manufacturing process and equipments for reducing cycle time have been made in many directions of a machine tool industries. Especially high productivity is very important to machining center with high-speed spindle. This paper proposed method of reducing T-T(tool to tool) time which results in shorter unclamping time. T-T time varies as factors such as a hydraulic system, a drawbar mass, a flow meter, a disc spring, piston and pipe diameters. In this paper We could find design factors has much influence on decreasing the unclamping time using DOE(Design of Experiment) and optimized the level of the factors using AMESim $4.0^{(R)}$ and visualNastran $4D^{(R)}$ Finally, we have verified improved result of the optimized factors with initial design.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.658-663
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• 2005

This paper presents the steering control algorithm of a locomotion robot using a quaternion. The locomotion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1745-1748
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• 2005

According to the demand of the high productivity, the interest of manufacturing skills is growing in industrial society. Especially the high speed spindle in machining center becomes important these days. The exchange time of the tool in machining center usually calls T-T(tool to tool) time. Detailly explaning, It is influenced by the unclamping time. Affecting factors of the unclamping time are various(the hydraulic system, drawbar mass, a flow meter, disc spring, a piston diameter, pipe diameters, and so on). In this study, we could find factors that decrease the unclamping time and verify it for softwares.(AMESim $4.0^{(R)}$ & visual Nastran $4D^{(R)}$)

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1832-1835
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• 2005

This paper presents the steering control algorithm of an up and down motion robot using a quaternion. The up and down motion robot is to be moved on an irregular floor that can inevitably result in the errors of both position and orientation. Especially the orientation error should be compensated every work in order to adjust the misaligned values of current orientation to those commanded values. In this paper, we propose a new steering control algorithm between the two values by using a quaternion with spherical cubic interpolation. The proposed algorithm is shown to be effective in terms of vibration when compared to a conventional simple compensation without interpolation, by using $MATLAB^{(R)}$ and $VisualNastran4D^{(R)}$

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.6
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• pp.1-7
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• 2006

This paper presents the study in the development of optimal working method for an outer-hull preprocessing robot using a quaternion. The out-hull preprocessing robot consists of feathering and cleaning parts. This robot should be controlled correctly for feathering work because it is to be worked on a curved plate that can result in the errors of orientation. In this paper, we propose a control algorithm between given two orientations of the out-hull preprocessing robot by using a quaternion with spherical linear interpolation. The proposed control algorithm is shown to be effective in terms of motor angles and torques when compared to a conventional Euler angle interpolation, by using both $MATLAB^{\circledR}$ and $VisualNastran4D^{\circledR}$.