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브라켓 부착시 레진 베이스의 두께에 따른 전단결합강도와 파절양상에 관한 연구
김재혁,황현식 대한치과교정학회 1998 대한치과교정학회지 Vol.28 No.4
본 연구는 브라켓 간접부착술식시 레진 베이스의 두께에 따른 전단결합강도와 파절양상을 비교함으로써 레진 베이스 두께 증가시 전단결합강도의 저하여부를 평가하기 위하여 시행되었다. 소의 하악 절치를 포매하여 만든 레진블럭에 micromanipulator를 사용하여 치면과 브라켓 기저면 사이의 광중합형 접착제가 0.0, 0.5, 1.0, 1.5, 2.0 mm 두께가 되도록 각각 브라켓을 부착한 다음 만능물성시험기를 이용하여 치면으로부터 하중 위치까지의 거리를 일정하게 유지하면서 레진 베이스의 두께를 증가시킨 경우와 레진 베이스 두께의 증가와 함께 치면으로부터 하중 위치까지의 거리를 증가시킨 경우로 나누어 전단결함강도를 측정하고 파절양상을 관찰하여 다음과 같은 결과를 얻었다. 1. 치면으로부터 하중 위치까지의 거리를 일정하게 유지한 경우 레진 베이스 두께의 증가와 함께 브라켓 기저부로부터 하중 위치까지의 거리가 감소함에 따라 전단결합강도가 유의하게 증가하였다. 2. 레진 베이스 두께의 증가와 함께 치면으로부터 하중 위치까지의 거리를 증가 시킨 경우 전단결합강도가 감소하는 것으로 나타났으나 그 유의차는 미미하였다. 3. 접착제 잔류지수를 이용하여 레진 베이스의 두께에 따른 파절양상을 비교 관찰한 결과 유의한 차이를 보이지 않았다. 이상의 실험결과를 볼 때 브라켓 부착시 레진 베이스의 두께에 따른 전단결합강도는 브라켓 기저부로부터 하중 위치까지의 거리가 증가함에 따라 감소하는 반면 레진 베이스 두께의 영향은 크게 받지 않는 것으로 나타났다. The purpose of this study was to evaluate the possibility of the decrease of bond strength due to increased thickness of resin base in indirect bracket bonding technique. Metal brackets were bonded to the resin blocks involving bovine lower incisors and the thickness of resin bases was increased by increments of 0.5mm from 0.0mm to 2.0mm. They were divided into two groups, one group is that the thickness of resin base was increased but the loading point from the tooth surface was maintained constantly, the other group is that the loading point from the tooth surface and the resin base thickness were increased concomitantly. The shear bond strength was tested on universal testing machine and the failure patterns were assessed with the adhesive remnant index(ARI). The results were as follows: 1. When the distance from the tooth surface to the loading point was maintained constantly, shear bond strength was increased significantly according to the decrease of distance from the bracket base to the loading point and the increase of resin base thickness. 2. When the distance from the tooth surface to the loading point and the resin base thickness were increased concomitantly, shear bond strength was decreased according to the increase of resin base thickness but significant differences were ignorable. 3. There were no significant differences in ARI scores according to the change in the thickness of resin base. The results of the present study indicated that shear bond strength was not much affected by the thickness of resin base, whereas was decreased according to the increase of distance from bracket base to the loading point.
Tremor Suppression for Handheld Micromanipulator using Robust Hybrid Control
Sungwan Boksuwan,Taworn Benjanarasuth,Chisato Kanamori,Hisayuki Aoyama 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
This paper proposes a suppression of tremor effects, fluctuations caused by a user’s hand, on a handheld micromanipulator by means of a robust hybrid control scheme. The proposed control scheme is a combination between an explicit model predictive control and a PID controller. The advantage of the PID controller is a robustness. It is suitable for handling the holding angle changes. The explicit model predictive control provides the excellent tracking performance. In addition, the robust hybrid control can handle tremor effects successfully. The control objective is to achieve robust tracking performance, to dampen the vibration of the mechanism and to suppress a disturbance, a tremor. The experimental results are used to investigate the effectiveness of the proposed method.
5-Bar 스피링을 이용한 마이크로매스퓰레이터의 변위증폭
한석영(Seog Young Han),윤상준(Sang Jun Yoon),박재용(Jae Yong Park),황준성(Jun Seong Hwang),최상혁(Sang Hyuk Choi),김민수(Min Sue Kim) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
A micromanipulator means the device that can manipulate the object with high precision. It is required high natural frequency and sufficient workspace. To cope with this requirement, flexure hinge mechanisms have been proposed. However, previous designs are hard to satisfy the functional requirements of the system due to difficulty in modeling and optimization process applying the independent axiomatic design. Therefore, this paper suggests a new design based on semi-coupled, axiomatic design. A planar 3 DOF parallel type micromanipulator is chosen as an exemplary device. To check the effectiveness of the 5-bar spring, simulation is performed by FEM. The simulation result satisfy natural frequency and a workspace, simultaneously, which is in very close agreement with the specified goal of design.
5-Bar 스피링을 이용한 마이크로매스퓰레이터의 변위증폭
한석영(Seog Young Han),윤상준(Sang Jun Yoon),박재용(Jae Yong Park),황준성(Jun Seong Hwang),최상혁(Sang Hyuk Choi),김민수(Min Sue Kim) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
A micromanipulator means the device that can manipulate the object with high precision. It is required high natural frequency and sufficient workspace. To cope with this requirement, flexure hinge mechanisms have been proposed. However, previous designs are hard to satisfy the functional requirements of the system due to difficulty in modeling and optimization process applying the independent axiomatic design. Therefore, this paper suggests a new design based on semi-coupled, axiomatic design. A planar 3 DOF parallel type micromanipulator is chosen as an exemplary device. To check the effectiveness of the 5-bar spring, simulation is performed by FEM. The simulation result satisfy natural frequency and a workspace, simultaneously, which is in very close agreement with the specified goal of design.
3-DOF Parallel Micromanipulator : Design Consideration
이정익,이동찬,한창수 한국생산제조학회 2008 한국생산제조학회지 Vol.17 No.2
For the accuracy correction of the micro-positioning industrial robot, micro-manipulator has been devised. The compliant mechanisms using piezoelectric actuators is necessary geometrically and structurally to be developed by the optimization approaches. The overall geometric advantage as the mechanical efficiencies of the mechanism are considered as objective functions, which respectively are the ratio of output displacement to input force, and their constraints are the vertical motion of supporting leg and the structural strength of manipulation. In optimizing the compliant mechanical amplifier, the sequential linear programming and an optimality criteria method are used for the geometrical dimensions of compliant bridges and flexure hinges. This paper presents the integrated design process which not only can maximize the mechanism feasibilities but also can ensure the positioning accuracy and sufficient workspace. Experiment and simulation are presented for validating the design process through the comparisons of the kinematical and structural performances.
3-DOF Parallel Micromanipulator
Jeongick Lee(이정익),Dongchan Lee(이동찬),Changsoo Han(한창수) 한국생산제조학회 2008 한국생산제조학회지 Vol.17 No.2
For the accuracy correction of the micro-positioning industrial robot, micro-manipulator has been devised. The compliant mechanisms using piezoelectric actuators is necessary geometrically and structurally to be developed by the optimization approaches. The overall geometric advantage as the mechanical efficiencies of the mechanism are considered as objective functions, which respectively are the ratio of output displacement to input force, and their constraints are the vertical motion of supporting leg and the structural strength of manipulation. In optimizing the compliant mechanical amplifier, the sequential linear programming and an optimality criteria method are used for the geometrical dimensions of compliant bridges and flexure hinges. This paper presents the integrated design process which not only can maximize the mechanism feasibilities but also can ensure the positioning accuracy and sufficient workspace. Experiment and simulation are presented for validating the design process through the comparisons of the kinematical and structural performances.
Intelligent Control System for Biorobotic Micromanipulator
이고르(Igor Gaponov),조현찬(Hyun-Chan Cho) 한국지능시스템학회 2009 한국지능시스템학회 학술발표 논문집 Vol.19 No.2
This paper suggests intelligent control algorithm implemented within biorobotic micromanipulator control system. The change of various environment parameters requires the change of corresponding robot controller gains in order to maintain required accuracy and overall stability of the system. We propose an intelligent control system which will choose desired controller parameters from pre-given gains set in order to maintain desired system performance. These gains sets are checked for being stable and robust beforehand basing on several stability criteria which guarantees the stability of control system.
3자유도 병렬식 마이크로 매니퓰레이터의 기구학적 해석 및 설계
탁태열(Tae-Yul Tak),이동찬(Dong-Chan Lee),한창수(Chang-Soo Han),윤덕원(Deok-won Yun),서승환(Seung-whan Suh),김진호(Jin-Ho Kim),최현석(Hyeun-Seok Choi),이낙규(Nak-Kyu Lee),최태훈(Tae-Hoon Choi),이혜진(Hye-Jin Lee) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
This paper presents the development methodology of the 3 DOF Parallel Micromanipulator with the PZT-driven flexure hinge amplifier. For the fundamental kinematic configuration of manipulator, inverse and forward kinematics are simulated by Matlab programming. Through the kinematic simulation, the operation range of the platform and the workspace of end-effector are investigated. Under a given driving condition, the PZT-driven flexure hinge amplifier is designed by FEM and optimization tools.
Yim, Dongjean,Kang, Sang S.,Lillehoj, Hyun S.,Min, Wongi Elsevier 2011 Research in veterinary science Vol.90 No.2
<P><B>Abstract</B></P><P>The chicken, which is the host for seven species of <I>Eimeria</I>, typically is infected simultaneously by multiple <I>Eimeria</I> species and the oocysts of coccidia are excreted in the feces. A prerequisite for investigation of individual <I>Eimeria</I> species is to isolate a single oocyst from fecal samples. A novel method for isolating a single <I>Eimeria</I> oocyst from poultry litter using a micromanipulator was developed. This simple method is fast and reliable, and provides direct isolation of a single sporulated oocyst from fecal samples harboring multiple <I>Eimeria</I> species or samples contaminated by other species of parasite.</P>