• Annual Conference of KIPS
• /
• 2024.10a
• /
• pp.972-973
• /
• 2024

본 논문에서는 단차 극복, 주행 자세 변경, 몸체 평형 유지가 동시에 가능한 편심 메커니즘을 제안하였으며, 이 메커니즘을 채용한 로봇의 평형 제어 방식을 개선하고 관련 성능을 평가하였다. 제안한 방식을 기존의 방식과 비교 실험하여 처리 시간, 메모리 사용량 등 주요 성능에 있어서의 변화와 효율성을 검토하였다. 이를 통해 로봇이 채용한 제한된 임베디드 S/W 환경에서도 실시간으로 몸체의 기울기 보정이 효율적으로 이루어짐을 확인하였으며, 편심 메커니즘을 채용한 로봇에 적합한 알고리즘임을 보여주었다

• Annual Conference of KIPS
• /
• 2024.10a
• /
• pp.803-804
• /
• 2024

본 논문에서는 '편심 메커니즘'이라는 독창적인 로봇 기구설계 구조를 선보이고, 실제 구현을 바탕으로 그 효과를 검증한다. 비평탄한 지형에서 평형을 유지하고 주파할 수 있는 소형 바퀴형 지능 로봇을 제안하여, 바퀴형 로봇의 구조적 한계를 뛰어넘을 수 있는 유연성을 제시하고자 한다.

• Tunnel and Underground Space
• /
• v.30 no.6
• /
• pp.591-602
• /
• 2020

Several alternative rock-cutting concepts, which are modified from the conventional ones, have been developed lately. Of the concepts, undercutting is one of the latest technologies. In this study, as a fundamental study on the undercutting technique, the rock-cutting mechanism and important parameters of the undercutting were introduced. This study built up cutting test system for evaluating the cutting performance of an actuated undercutting disc cutter (ADC), and carried out a series of cutting tests under different cutting parameters of ADC. The characteristics of cutter forces obtained from ADC rock-cutting tests were analyzed. The both average and peak values of the three directional cutter forces were linearly increased with the increases of linear velocity, penetration depth in vertical direction and eccentricity of ADC.

• Journal of Korean Society of Steel Construction
• /
• v.27 no.1
• /
• pp.1-12
• /
• 2015

Well-designed bolted connections can exhibit excellent ductile behavior through bearing mechanism until the occurrence of bolt shear rupture. The ultimate strength analysis of eccentric bolted connections is an economical and mechanistic approach which uses such ductility. However, the bolt load-deformation relationship, which forms basis of the current practice, is based on very limited combinations of bolt and steel materials. The primary objective of this study was to establish the general bolt force-deformation relationship based on systematic single-bolt bearing connection tests. The test results showed that the projected area of the bolt hole and the strength and thickness of the plate to be connected are the main factors affecting the force-deformation relationship. The results of this study can be used for the instantaneous center of rotation method (ICRM) to achieve more accurate analysis and economical design of a variety of group-bolted connections subjected to eccentric shear.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.35 no.5
• /
• pp.277-286
• /
• 2022

The elastic and inelastic responses obtained from the experimental and analytical results of two RC building structures under the service level earthquake (SLE) and maximum considered earthquake (MCE) in Korea were used to weinvestigate the characteristics of the mechanisms resisting shear and torsional behavior in torsionally unbalanced structures. Equations representing the interactive effect of translational drift and torsional deformation on the shear force and torsional moment were proposed. Because there is no correlation in the behavior between elastic and inelastic forces and strains, the incremental shear forces and incremental torsional moments were analyzed in terms of their corresponding incremental drifts and incremental torsional deformations with respect to the yield, unloading, and reloading phases around the maximum edge-frame drift. In the elastic combination of the two dominant modes, the translational drift mainly contributes to the shear force, whereas the torsional deformation contributes significantly to the overall torsional moment. However, this phenomenon is mostly altered in the inelastic response such that the incremental translational drift contributes to both the incremental shear forces and incremental torsional moments. In addition, the given equation is used to account for all phenomena, such as the reduction in torsional eccentricity, degradation of torsional stiffness, and apparent energy generation in an inelastic response.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.12
• /
• pp.237-246
• /
• 2019

The Electro-Mechanical Brake (EMB) is the next generation braking system for automobiles and railway vehicles. Current brake systems for high-speed trains generate a braking force using a pneumatic cylinder, but EMB systems produce that force through a combination of an electric motor and a gear. In this study, an EMB operation mechanism capable of generating a high braking force was proposed, and structural and vibration analyses of the gears and shafts, which are the core parts of the mechanisms, were performed. Dynamic structural analysis confirmed that the maximum stress in the analysis model was within the yield strength of the material. In addition, the design that maximizes the diameter of the motor shaft was found to be advantageous in strength, and large shear stress could be generated in the bolt fixing the gear and eccentric shaft. In addition, a test apparatus that can reproduce the mechanism of the analytical model was fabricated to measure the strain of the fixed bolt part, which is the most vulnerable part. The strain measurement results showed that the error between the analysis and measurement was within 10%, which could verify the accuracy of the analytical model.