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논문 기본 정보

자료유형
학술저널
저자정보
차운용 (Sunmoon University) 전종균 (Sunmoon University) 박상곤 (RMSTechnology Corporation) 한현희 (RMSTechnology Corporation)
저널정보
한국소음진동공학회 한국소음진동공학회논문집 한국소음진동공학회논문집 제24권 제9호
발행연도
2014.9
수록면
706 - 715 (10page)

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초록· 키워드

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Recently, the medical community has been enthusiastically welcoming robots that are able to provide high-quality medical services across the board, including assisting the surgeons during surgeries. In response, many higher education institutions and research facilities started to conduct various experiments and studies about these robots. During such research, it was discovered that the arm of one particular robot type that is being developed to assist surgeries are prone to vibrate even from the weakest impact, in addition to other residual vibration problems. We attempted to reduce such dynamic response by using a MF-TMD that is produced by adding magnetic fluid to ECD. We verified the MF-TMD’s performance by testing it within various frequency bands and attenuations. We then designed a cantilever that was structurally similar to the robot’s arm. We attached the MF-TMD to this cantilever and conducted a pilot experiment, which validated our hypothesis that MF-TMD will reduce the robot arm’s vibrations through its optimal damping ratio. Henceforth, we attached the MF-TMD to the robot arm in question and conducted a performance experiment in which we tuned the MF-TMD’s frequency and damping factor to its optimal level and measured the vibrations of the arm. The experiment demonstrated that the vibrations that occurred whenever the arms rotated were significantly reduced.

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ABSTRACT
1. 서론
2. 시스템의 동역학 모델
3. 주파수응답 수치해석
4. MF-TMD 설계
5. 성능실험
6. 결론
References

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UCI(KEPA) : I410-ECN-0101-2015-530-002558187