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FDM타입의 적층-절삭가능 복합 3D프린팅 플랫폼 개발을 위한 소재별 절삭시험 및 강성해석에 관한 연구
고석진(Sukjin Ko),이동훈(Donghun Lee) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
Today, leading companies in the field of 3D Printer focus on developing performance such as available materials, accuracy and process time. Especially to improve surface quality of products, additional function, like a cutting module, is mounted in several 3D Printers. However there are no FDM type 3D Printers that have cutting module which can cut various shapes of objects. As a preceding research of developing FDM type 3D Printing Platform performing laminating and cutting, in this paper, a cutting experiment was conducted to obtain cutting reaction force and surface resolution of variable materials. ABS, PLA that widely used in FDM type 3D printer and Steel, Aluminum, MC Nylon that well used in traditional manufacturing was used in this experiment. Then an analysis of stiffness considering both actuator stiffness and structural stiffness was conducted for each materials. As a result, two conclusion was discovered. First, it is confirmed that surface quality of products made in FDM type 3D Printer can be improved by cutting work.
모바일 로봇의 험지 주행 성능 향상을 위한 기구학 기반 제어 모델 개발
황인상(Insang Hwang),고석진(Sukjin Ko),김명규(Myeongkyu Kim),신영광(Youngkwang Shin),이동훈(Donghun Lee) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
This paper describes a new kinematic model to improve the trajectory tracking performance of a four-track mobile robot with a passively articulated suspension. The mobile robot is composed of four tracks, two rockers, 2-DOF pitch-roll joints, a differential gear, and a main body. Due to the difficulties in the explicit identification of wheel-terrain contact angles through elevation map or GPS information, tiltable driving tracks are combined with suspension kinematics to identify track-terrain contact angles for the proposed mobile robot in arbitrarily rough terrains. That is, the TTCA-based driving velocity projection method is proposed in this study to improve the maneuverability of the proposed mobile robot in arbitrarily rough terrains. Virtual ground with a sinusoidal shape is modeled in the DAFUL-Simulink co-simulator framework to examine the improvement in the proposed mobile robot relative to a non-suspension version of a four-track mobile robot. The results indicate that the proposed mobile robot has a 33.3% lower RMS distance error, 56.3% lower RMS directional error, and 43.2% lower RMS offset error than the four-track SSMR, even with planar SSMR kinematics. And the results show that PASTRo with the TTCA-based driving velocity projection method has a 39.2% lower RMS distance error, 57.9% lower RMS directional error, and 51.9% lower RMS offset error than the four-track SSMR.
압전기(PZT)가 결합된 플러팅 시스템을 이용한 3차원 PCL 지지체 제작
전호준(Hojun Jeon),고석진(Sukjin Ko),윤현(Hyeon Yoon),안승현(SeungHyun Ahn),김근형(GeunHyung Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
The RP can provide great control of the internal features of a scaffold, the resolution and minimum feature size are usually constrained by processing parameters and material properties. Recently, a flow in the small-sized nozzle of the plotting system should be required along smoothly to obtain small-sized polymer strand of the 3D scaffold. To attain the stable flow in small-sized nozzle, we adapted a PZT system to the melt-plotting RP system. The effects of the various amplitude and frequencies were investigated in respect of the strand size and the fabricated scaffolds were characterized in mechanical properties. The scaffold of aided PZT system had higher mechanical properties than normal plotting system due to the inducement of molecular orientation of the strand by the vibrating system. From these results, we can convince that this technique is a feasible new method for fabricating high-quality 3D polymeric scaffolds.
극한 환경용 일체형 구동기의 원격 제어 및 모니터링 시스템의 속도 향상에 관한 연구
황인상(Insang Hwang),김명규(Myeongkyu Kim),고석진(Sukjin Ko),이동훈(Donghun Lee) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This paper is a study on development of tele-operation and monitoring system of an airtight all-in-one actuator for working robots in harsh environment like industry sites and scenes of a nuclear accident. Developed actuator is assembled with harmonic driver reducer and DC Servo Motor, EtherCAT Servo Driver in single housing and has structure of airtight property. This paper constructs the system that can remote control and monitor the airtight all-inone actuator with high speed on the basis of TCP/IP communication under real time controller platform of National Instrument. Also, performance of tele-operation and monitoring in accordance with increase of the number of actuators is evaluated in terms of update rate and packet data Loss.