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O-Deuk Lim,Min-Seong Kim,Yang-Geun Jung,Jung-Suk Kang,Jong-Bum Won,Sung-Hyun Han 한국산업융합학회 2017 한국산업융합학회 논문집 Vol.20 No.3
In this study, we describe a new approach to real-time implementation of working path control for the forging and casting manufacturing process by vertical type articulated robot system. The proposed control scheme is simple in structure, fast in computation, and useful for real-time control of factory automation based on robot system. Moreover, this scheme does not require any accurate parameter information, nor values of the uncertain parameters and payload variations. Reliability of the proposed controller is proved by simulation and experimental results for robot manipulator consisting of arm with six degrees of freedom under the variation of payloads and tracking trajectories in Cartesian space and joint space. The vertical type articulated robot manipulator with six axes made in SMEC Co., Ltd. has been used for real-time implementation test to illustrate the enhanced working path control performance for unmanned automation of the forging and casting manufacturing process.
Lim, O-Deuk,Kim, Min-Seong,Jung, Yang-Geun,Kang, Jung-Suk,Won, Jong-Bum,Han, Sung-Hyun The Korean Society of Industry Convergence 2017 한국산업융합학회 논문집 Vol.20 No.3
In this study, we describe a new approach to real-time implementation of working path control for the forging and casting manufacturing process by vertical type articulated robot system. The proposed control scheme is simple in structure, fast in computation, and useful for real-time control of factory automation based on robot system. Moreover, this scheme does not require any accurate parameter information, nor values of the uncertain parameters and payload variations. Reliability of the proposed controller is proved by simulation and experimental results for robot manipulator consisting of arm with six degrees of freedom under the variation of payloads and tracking trajectories in Cartesian space and joint space. The vertical type articulated robot manipulator with six axes made in SMEC Co., Ltd. has been used for real-time implementation test to illustrate the enhanced working path control performance for unmanned automation of the forging and casting manufacturing process.
Journal Bearing의 동적특성을 고려한 Spindle설계의 개선방안에 관한 연구
林五康,裵元炳,李時馥,안득만 부산대학교 공과대학 1981 硏究報告 Vol.21 No.-
The dynamic performances of a spindle-hydrostatic bearing system under the various conditions of the dynamic properties, i.e., the stiffnesses and damping coefficients of the bearing are investigated. And the alalyses of the workpiece effect are carried out under both conditions of being and not being supported by a tailstock. For the influences, on the performance, of workpiece attachment to the spindle may be serious as the size of the workpiece is comparatively large. The transfer matrix method which is popular for the rotor dynamic analysis, is used for the calculations of the modal damping ratio and the damped natural frequency.