인공치근 이식 시술 보조 로봇의 소형화를 위한 설계와 구조적 안정성 분석에 관한 연구

이동운 조선대학교 2018 국내석사

초음파 이송 시스템의 동특성 해석에 관한 연구

신상문 조선대학교 대학원 2007 국내석사

Methods of major transport system used in many industry field are conveyor belt, magnetic levitation system and indexing system. It is an indispensable device in many fields and especially it is very important in the factory automation. As the information and telecommunication industry starts to develop, the semiconductor and the optical industry are growing. In recent years, the faster network is required, the more demand of optical components is growing. However the conventional transport system is not adequate for transporting the precision optical component and the semiconductor. Since the magnetic fields cause damage to semiconductor and the contact force can cause scratch on the optical lens, the new transport system for transporting the optical component and the semiconductor without damage is required and the ultrasonic wave transport system has been proposed to replace the previous transport system. Actuators using the ultrasonic wave have been examined mainly in the USA and Japan since 1980. So far, most studies have developed for the purpose of reducing motor noises. In this thesis, the object transport system using the ultrasonic wave is developed for transporting precision elements without damage. Two ultrasonic wave generators are used. It consists of the piezoelectric actuator which uses the bolted langevin-type transducer(BLT) and the horns. The ultrasonic transport system is a device that transports objects on the elastic body using ultrasonic wave. When ultrasonic wave is applied to flexural beam, the flexural beam vibrates to excite air layer, which lifts up the object on the beam to transport. The principle of the object transportation is similar to the ultrasonic motor. The traveling wave which is produced on the flexural beam consists of the longitudinal wave and the transverse wave. Traveling wave of the ultrasonic transport system is theoretically analyzed. To observe a modeling equation for the vibration displacement of the flexural beam excited by two modes with the same frequency but a phase difference of 90˚, the normal mode expansion is used. The modeling equation on steady state response of ultrasonic vibration is expressed and natural frequency of flexural beam in each mode is also estimated using the Euler-Bernoulli theory. In addition, the transport direction of objects depending on phase difference and frequency is theoretically analyzed and is verified the theoretical results by experiments. The optimal traveling frequency to generate traveling wave on the beam is measured.

세탁기 밸런스의 열용착 시스템에 관한 연구

김태호 조선대학교 2008 국내석사

When washing machine is rotated in the laundry, it tends to lean toward one side. This tendency causes a serious vibration. The balance of washing machine plays an important role in order to reduce the vibration by injecting the sand or the salt water into the balance of washing machine. The hot plate welder is used to prevent from outflow of contents. The thermal characteristics of the hot plate and the balance have to be considered for reducing defects of plastic welding. The hot plate welder brings about many problems which is concerned with accident. The workers are protected by loading/unloading system for balance of washing machine in hot plate welder. The direction recognition and location information in the balance is required in this system. In this thesis, hot plate welding system of balance for the washing machine is studied. The major researches are as follows. Thermal analysis in the hot plate welder for balance of the washing machine is studied. The heat source in hot plate welder plays a really important role for welding of washing machine balance. The temperature distributions of the hot plate and the balance of washing machine are obtained by finite element analysis. The temperatures of the hot plate are measured by the infrared temperature sensor in order to find the thermal contact resistance. The thermal strain of the plastic balance is predicted by thermal-structural coupled analysis. The hot plate welding process is simulated by using ADAMS software. The process scheduling and the working space of hot plate system are predicted through the results of the simulation. The machine vision system is applied to the recognition direction of balance in washing machine. The template is sub-image which expresses the geometric characteristics of balance for the washing machine. The template matching algorithm compares sub-image with original image acquired in real-time to obtain a center point of balance image. The mid points and the edges of balance are estimated by the edge detection and gauging algorithms. The data acquired by these results is used for recognition direction of balance. The automation software for image processing is developed using LabVIEW.

非球面 Glass렌즈 성형용 금형코어의 초정밀 硏削加工에 관한 연구

김현욱 조선대학교 대학원 2007 국내박사

Recently, with increasing lightness and miniaturization of high resolution camera phones, the demand for aspheric glass lens has increased because plastic and spherical lenses are unable to satisfy the required performance. Since an aspheric glass lens is fabricated by high temperature and pressure molding using a tungsten carbide molding core, precision grinding and coating technology for the molding core surface is required. Diamond Like Carbon(DLC) and Rhenium-Iridium(Re-Ir) coating are being researched in various fields because of its high hardness, high elasticity, high durability, and chemical stability and is used extensively in several industrial fields. Especially, the DLC and Re-Ir coating of the molding core surface in the molding core used in the fabrication of a glass lens is an important technical field, which affects the improvement of the demolding performance between the lens and molding core during the molding process and the molding core lifetime. In this paper, the optimal grinding condition for tungsten carbide(WC) using DOE(Design of Experiment) for the glass lens molding core is proposed. In addition, feedrate control for influence of surface roughness(Ra) was developed. With the use of the feedrate control method, the surface roughness(Ra) of the molding core was improved by about 1.5 nm(@clear aperture; 3.0 mm). For the 3 mega pixel and 2.5 magnifications optical zoom for camara phone module, tungsten carbide molding cores were fabricated under this optimal grinding condition using feedrate control method. The measurement results of the molding core for DLC coating were as follows: PV of 0.155 ㎛(apheric surface), PV of 0.100 ㎛(plane surface), and Ra of 3.4 nm(aspheric surface) and 1.9 nm(plane surface). The measurement results of the molding core for DLC coating were as follows: PV of 0.153 ㎛(apheric surface), PV of 0.105 ㎛(plane surface), and Ra of 3.5 nm(aspheric surface) and 2.0 nm(plane surface). Molding cores were coated with the DLC and Re-Ir, respectively. Then form accuracy(PV) and surface roughness(Ra) of the cores were measured and evaluated. DLC and Re-Ir coating on the surface of the tungsten carbide molding core can be used not only to improve the demolding performance between the molding core and glass lens and to improve the molding core lifetime, but also to influence the form accuracy and surface roughness of the glass lens. Because SiC is a material of high hardness and high brittleness, it can crack or chip during grinding. It is, however, widely used in many fields because of its superior mechanical properties. In particular, when aspheric glass lens molding core is used, the SiC coating process, which must be carried out before the DLC coating, can be eliminated and thus, manufacturing time and cost can be reduced In this paper, the optimal grinding condition for silicon carbide(SiC) was developed under the grinding condition of tungsten carbide. A silicon carbide molding core was fabricated under this optimal grinding condition using the feedrate control method. The measurement results of the molding core were as follows: PV of 0.260 ㎛(apheric surface) and Ra of 5.3 nm(aspheric surface).

치과용 임플란트 시술 메니퓰레이터 설계 및 해석에 관한 연구

서호진 조선대학교 일반대학원 2009 국내석사

Implant surgery is generally accepted as the good technique to replace the teeth completely. The "freehand" drilling of implant is performed frequently in the numerous implant surgery. It is still one of the most demanding techniques to the dentist and patient. Development of CT(Computerized Tomography) and 3D visualization technique help to make the treatment plan and the surgical navigation assists the dentist during the intra-operative procedure. As medical engineering is advanced, there are many technical progresses in dental implantology. Computer-guided navigation has proven a valuable tool in several surgical disciplines. Although the navigation technique facilitates the positioning, the image guided adjustment of the angle cannot be attained easily in the dental surgery. Furthermore, the influence of random factors such as trembling cannot be substantially eliminated by the computer assisted navigation. On the other hand, surgical guide can not do modification during surgery. A completely alternative way could be a robot. After gross positioning of the dental drill, the end-effector should set the final angulation. The setting of the final orientation requires 2 degree of freedom and takes place very close to the patients. Therefore, high accelerations and complicated kinematics have be avoided for safety reasons. In this thesis, design and analysis of assist-manipulator are studied. Angulation device performs a task by cooperative manipulation. The force/torque sensor is attached to the tool and specifically designed for surgeon's input. Data acquisition board, LabVIEW software and ATI force/torque sensor are used for smooth and accurate sensing. The double parallelogram mechanism can provide a fixed entry point during the surgery, enhance the safety and quality, and give facilities for surgeons. RCM(Remote Center of Motion) for drill tip are tested by using ADAMS. The 3D visualization program of manipulator is developed by LabVIEW.

냉장고용 고하중 슬라이드 레일의 롤포밍 공정 해석

김재상 조선대학교 2010 국내석사

Roll forming process is one of the most widely used processes in the world for forming metals. It can manufacture goods of the uniform cross section throughout the continuous processing. Roll forming is a very important process used in many industrial fields. It is difficult to predict the plastic deformation in roll forming process because of its inherent complexity. So, many forming roll designers still depend on his or her art, not the science in spite of technical process. This situation raises problems which take a long time and cost a lot of money. Computer analysis methods such as FEM(Finite Element Method) and the FDM(Finite Difference Method) help the forming roll designers to estimate the roll forming process easily. In this thesis, the slide rail composed of inner member, center member and outer member is designed as 3-dimensional model. The heavy load slide rail is used in the refrigerator. Tensile test is performed about SCP-1 to obtain material properties. Heavy load slide rail is simulated by static structural analysis to evaluate the structural defect. Curve fitting is executed by using the least square method to set up the flow stress equation which is the governing equation for rigid plastic FEA. The slide rail is designed using the constant arc length forming method. The inner member and the outer member are designed using the outside lip method, and the center member are designed using the center bead method. The forming roll of the inner member in the slide rail is designed as two types. TYPE A is formed by the upper roll and the lower roll, and TYPE B is added the side roll in last pass. Each types are simulated and compared with the longitudinal strain, width strain and thickness strain using SHAPE-RF software.

이중평행사변형 기구를 이용한 치과용 메니퓰레이터 설계에 관한 연구

임성빈 조선대학교 2010 국내석사

ABSTRACT A Study on Design of Dental Manipulator using Double Parallelogram Linkage Sung Been Im Advisor : Prof. Jeong, Sang-Hwa, Ph.D. Department of Mechanical Engineering, Graduate School of Chosun University There are much technical progresses in dental implantology. Development of CT(Computerized Tomography) and 3D visualization technique help to make the treatment plan and the surgical navigation assists the dentist during the intraoperative phase. Regardless of the technical progress the "freehand" drilling of implant is performed frequently in the numerous implant surgery. In spite of the excellent preoperative plan, the hand tremble of a dentist caused by vibration of drill, the mobility of patient, and the fatigue and unskillfulness of surgeon turn down the success rate of the dental implant surgeries. Computer-guided navigation has proven a valuable tool in several surgical disciplines. Although the navigation technique facilitates the positioning, the image guided adjustment of the angle cannot be attained easily in the dental surgery. Furthermore, the influence of random factors such as the trembling cannot be substantially eliminated by the computer assisted navigation. On the other hand, surgical guide can not be modified during the surgery. A completely alternative way could be a robot. After the gross positioning of the dental drill, the end-effector should set the final angulation. The setting of the final orientation requires 2 degree of freedom and takes place very close to the patients. Therefore, high accelerations and complicated kinematics have be avoided for safety reasons. In this thesis, design of manipulator for dental implant using double parallelogram linkage is studied. Angulation device performs a task by cooperative manipulation. The double parallelogram mechanism can provide a fixed entry point during the surgery, enhance the safety and quality, and give facilities for surgeons. RCM(Remote Center of Motion) for drill tip is simulated by using ADAMS. Double parallelogram manipulator is developed as RCM manipulator and motor controller is produced. Performance of RCM manipulator is evaluated.

가상 중심 메커니즘을 이용한 치과 임플란트 수술 보조 로봇에 관한 연구

김광호 조선대학교 2010 국내박사

Implant surgery is generally accepted as the good technique to replace the teeth completely. Regardless of the technical progress, the "freehand" drilling of implant is performed frequently in the numerous implant surgery. This procedure suffers from the shortcoming that the surgeon has to rely solely on his imagination to match the CT images with the real situation at the patient and that hand tremble of dentist is a insolvable problem. The simple surgical templates support the drilling. They provide easy handling but do not allow for any intraoperative modification of the predefined implant positions and orientations. The navigation in dental implantology is highly reliable and accurate systems. Although navigation facilitates positioning, the image guided adjustment of the angulation cannot be attained easily. Furthermore, the trembling cannot be substantially eliminated by mere computer assisted navigation. A completely alternative way could be a robot. Surgery is a highly interactive process and many surgical decisions are made in the operating room. The goal of surgical robotics is not to replace the surgeon with a robot, but to provide the surgeon with very versatile tools that extend his ability to treat patients. Many surgical tasks are characterized by relatively large angular mobility about a single point or within a limited spatial volume. These considerations have led us to develop mechanisms that naturally decouple rotational and translational motions of tools at a point apart from the mechanical structure of the robot. Many surgical robots include such a virtual center mechanisms as circular motion. In VC mechanisms, the RCM point is defined and mechanically locked by the kinematics of the mechanism. In this dissertation, assistant robot for dental implant surgery using virtual center mechanism is studied. It is a semi-active system that can perform a task by human-machine cooperative manipulation. The double parallelogram linkage is applied for the VC mechanism which circles a remote-center-of-motion point. Its design is verified by the finite element analysis and the multi-body dynamic analysis. The F/T sensor is used as the joystick for driving a VC manipulator. The F/T sensor signals are filtered by using zero offset, box averaging, decoupling gain, dead zone and saturation algorithms, and are transformed into motor input signals. The performance of a developed VC manipulator is evaluated. Yaw angle of handpiece according to input signals of motor3 is measured. Travel and hysteresis of a VC manipulator are also obtained. Alignment algorithm is introduced to align a RCM point with a drill tip by vision sensor and movement of drill tip is observed.

두 바퀴 균형 제어로봇의 동적 특성 해석에 관한 연구

윤현창 조선대학교 대학원 2011 국내석사

구간분할 바이너리 제어기반 로봇핸드의 메커니즘에 관한 연구

박준호 조선대학교 대학원 2006 국내석사

Actuators are the key technologies underpinning robotics. Breakthroughs in actuator technology, particularly in terms of power-to-weight ratio, or energy-density, will have significant impacts upon the way we design and control robotic systems. In recent years, as the robot technology is developed, the researches on the artificial muscle actuator that enables robot to move dexterously like biological organ become active. Non electro-mechanical actuators, such as Shape Memory Alloys(SMA) and Electro-active Polymer(EAP) actuators, convert the source energy to mechanical energy based on inherent material properties that exhibit actuator functionality. Although these actuator materials have an order of magnitude higher energy-density compared to electro-mechanical actuators, numerous difficulties persist in using them reliably and suitably as robot actuators. SMA has the hysterically dynamic characteristics. In this thesis, A new approach to design and control of shape memory alloy(SMA) actuators is presented. SMA wire are divided into many segments and their thermal states are controlled individually in a binary manner. Thermo-electric module(TEM) is used for heating and cooling individual segments of the SMA. Unlike the traditional way of controlling the wire length by driving a current to the entire SMA wire, the new method controls the binary state(hot and cold) of each segment. The total displacement is then proportional to the number of the segments having the heated state with the austenite phase. This control manner will drastically reduce the hysteresis that the SMA material has and it becomes the fundamental technology to develop the anthropomorphic robotic hand. Accordingly, in this research, the mechanism in the digital step motor of the shape memory alloy that is driven by the segmented binary control, which is a new control technique, is studied. By using ADAMS, the robotic hand is designed. In order to find out the dynamical characteristics, the simulation is made in respect of the various forms of the robotic hand. By manufacturing the actual robotic hand, the experiment on the dynamical characteristics of the robotic hand is accomplished in the method of segmented binary control.