지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2014.9
- 수록면
- 706 - 715 (10page)
이용수
초록· 키워드
오류제보하기
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.
목차
ABSTRACT
1. 서론
2. 시스템의 동역학 모델
3. 주파수응답 수치해석
4. MF-TMD 설계
5. 성능실험
6. 결론
References
참고문헌 (9)
참고문헌 신청
1. [학술대회논문] - Guthart, G. S. / 2000 / The Intuitive Telesurgery System: Overview and Application / Proc. IEEE Int. Conf. Robot. and Automat : 618 ~ 621
2. [학술지(정기간행물)] - Kareem, A. / 1999 / Mitigation of Motions of Tall Buildings with Specific Examples of Recent Applications / Wind and Structures 2 (3) : 201 ~ 251
3. [학술대회논문] - Dyke, S. J. / 2005 / Current Directions in Structural Control in the US / 9th World Seminar on Seismic Isolation, Energy Dissipation and Active Vibration Control of Sructures : 1 ~ 22
4. [단행본] - Den Hartog, J. P. / 1956 / Mechanical Vibrations / McGraw-Hill
5. [학술지(정기간행물)] - Ormondroyd, J. / 1928 / The Theory of the Dynamic Vibration Absorber / Transactions of ASME 50 : APM-241 ~
2. [학술지(정기간행물)] - Kareem, A. / 1999 / Mitigation of Motions of Tall Buildings with Specific Examples of Recent Applications / Wind and Structures 2 (3) : 201 ~ 251
3. [학술대회논문] - Dyke, S. J. / 2005 / Current Directions in Structural Control in the US / 9th World Seminar on Seismic Isolation, Energy Dissipation and Active Vibration Control of Sructures : 1 ~ 22
4. [단행본] - Den Hartog, J. P. / 1956 / Mechanical Vibrations / McGraw-Hill
5. [학술지(정기간행물)] - Ormondroyd, J. / 1928 / The Theory of the Dynamic Vibration Absorber / Transactions of ASME 50 : APM-241 ~
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UCI(KEPA) : I410-ECN-0101-2015-530-002558187