• 한국정밀공학회지
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• 제28권6호
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• pp.732-737
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• 2011

The planetary gear reducer becomes more and more widely used in machine industries. The planetary gear reducer has a significant role to transmit power to wheel & tire module in the In-wheel system. Thus, the planetary gear reducer should have strong stiffness and durability. In this paper, the contact and bending stresses at the tooth of the planetary gear reducer are analyzed using MASTA, a commercial gear design and analysis software. Stress distribution at the tooth face of the sun, planetary and annulus gears are obtained using the finite element method. The design modification is performed using the response surface method. The usefulness of the design modification and optimization method presented in this paper is verified by comparing the maximum stresses of the original and optimized planetary gear tooth.

• 한국재료학회지
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• 제9권7호
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• pp.715-723
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• 1999

마그네슘은 20여년간 자동차 산업에서 휠소재로 사용되어 왔다. 마그네슘 휠은 무게가 알루미늄 휠보다 25% 가벼워서 주행성이 우수하다. 이 연구의 목적은 사형주조 및 영구금형주조 공정에 의한 AZ91D 합금제 췰을 개발하는 것이다 보호개스$(SF_6+CO_2)$를 사용하는 비플럭스 용해기술을 적용하여 용탕의 산화와 불순물의 유입을 배제하였다 마그네슘 용탕은 가압식 펌프시스템을 사용하여 가열된 파이프를 통하여 모울드에 자동으로 공급된다. 열처리 및 인고트의 조성에 따른 AZ91B 합금제 휠의 기계적 특성을 조사하였다.

• International Journal of Precision Engineering and Manufacturing
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• 제4권3호
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• pp.48-54
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• 2003

This paper deals with mirror grinding of a small-sized aspherical lens by a resin bonded diamond spherical wheel. Up to now, a spherical lens has been used for the lens of the optical communication optical part. However, recently, aspherical optical parts are mainly used in order to attempt the improvement in image quality and miniaturization of the optical device. It is possible to manufacture the aspherical lens which is presently being used in optical instrument through ultra-precision machining technology. Also, to realize compactness, efforts are being made to produce a micro aspherical lens, fur which the development of a high-precision, micro molding die is inevitable. Therefore, extensive research is being done on methods of producing a micro aspherical surface by high-precision grinding. In this paper, the spherical wheel was trued by cup-shaped truer and tool path was calculated by the radius of curvature of the wheel after truing and dressing. Then in the aspherical grinding experiment, WC material which is used as a melding die for the small-sized aspherical lens was ground. The results showed that a form accuracy of 0.1918 $\mu\textrm{m}$ P-V and a surface roughness of 0.064 $\mu\textrm{m}$ Rmax could be achieved.

• 로봇학회논문지
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• 제9권1호
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• pp.67-77
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• 2014

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2345-2347
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• 2000

ABS(Antilock Brake System) prevents the wheels from "locking" and improve "handling" during braking. Currently, safety and environmental issues are a major concern in the automotive industry. ABS has become the vital brake system. ABS is composed of sensors for wheel speed, a pressure modulator for controlling the brake pressures in the wheel brake cylinders, and an electronic control unit(ECU) which evaluates the signals from the wheel speed sensors and converts these to commands to control the pressure of modulator. In this paper, ECU developed for commercial vehicles is described. Detection of wheel slip, control algorithms of ABS, and diagnosis method of ECU are presented.

• 제어로봇시스템학회논문지
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• 제22권4호
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• pp.281-287
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• 2016

In this paper, we propose a novel compact surveillance throwing robot which has an omnidirectional shock absorption mechanism and an active control part of wheel treads to stabilize the dynamic posture of a miniature sphere type throwing robot. This throwing robot, which weighs 1.14kg and is 110mm in height, is designed in a spherical shape to be easily grabbed for throwing. Also, the omnidirectional shock absorbing aspect is designed using several leaf springs connected with inner and outer wheels. The wheel treads control part consists of a link mechanism. Through the field experiments, this robot is validated to withstand higher than 17Ns of omnidirectional impulse and increase the stabilized max speed three times from 11 rad/s to 33rad/s by increasing wheel treads.

• 한국정밀공학회지
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• 제18권12호
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• pp.82-87
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• 2001

This paper deals with mirror grinding of a small-sized aspherical lens by the resin bonded diamond spherical wheel. Up to now, a spherical lens has been used for the lens of the optical communication optical part. However, recently, the aspherical optical parts are mainly used in order to attempt the improvement in image quality and miniaturization of the optical device. It is possible to manufacture the aspherical lens which is presently being used in optical instrument through ultra-precision machinery technology. Also, to realize compactability, efforts are being made to produce a micro aspherical lens, for which the development of a high-precision, micro molding die is inevitable. Therefore, extensive research is being done on methods of producing an micro aspherical surface by high-precision grinding. In this paper, the spherical wheel was trued by cup-type truer and tool path was calculated by the radius of curvature of wheel after truing and dressing. And then in the aspherical grinding experiment, WC material which is used as a molding die for the small-sized aspherical lens was ground. It results was that a form accuracy of 0.1918${\mu}m$ P-V and a surface roughness of 0.064${\mu}m$ Rmax.

• 한국자동차공학회논문집
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• 제7권9호
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• pp.105-111
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• 1999

The paper presents development of a Hardware-In-the-Loop simulation (HILS) system for the purpose of testing performance, stability, and reliability of an electronic power steering system(EPS). In order to realistically test an EPS by the proposed HILS apparatus, a simulated uniaxial dynamic rack force is applied physically to the EPS hardware by a pnumatic actuator. An EPS hardware is composed of steering wheel &column, a rack & pinion mechanism, andas motor-driven power steering system. A command signal for a pneumatic rack-force actuator is generated from the vehicle handling lumped parameter dynamic model 9software) that is simulated in real time by using a very fast digital signal processor. The inputs to the real-time vehicle dynamic simulation model are a constant vehicle forward speed and from wheel steering angles driven through a steering system by a driver. The output from a real-time simulation model is an electric signal that is proportional to the uniaxial rack force. The vehicle handling lumped parameter dynamic model is validated by a fully nonlinear constrained multibody vehicle dynamic model. The HILS system simulation results sow that the proposed HILS system may be used to realistically test the performance stability , and reliability of an electronic power steering system is a repeated way.

• International Journal of Automotive Technology
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• 제6권6호
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• pp.615-623
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• 2005

In this research, an effective technique was examined to improve the drift running performance. Concretely, the driver model by which the counter steer was done was assumed to the model by which the vehicle body slip angle (and the vehicle body slip angle velocity) was feed back. Next, the effectiveness of the system which added the assist steer angle corresponding to the steering wheel angle velocity to a front wheel steer angle was clarified as a drift running performance improvement technique of the vehicle. As a result, because the phase advances when the differentiation steer assistance is added, it has been understood to be able to cover the delay of the counter steer when the drift running. Therefore, it has been understood that the drift control does considerably easily. Moreover, it has been understood that the differentiation steer assistance acts effectively at the drift cornering by which the drift angle is maintained in cornering and the severe lane change with a drift at a situation. That is, it was understood to be able to settle to the drift angle of the aim quickly at the time of the drift cornering because the delay of the control steer angle of the counter steer was improved. Moreover, it was understood for the transient overshoot of the vehicle tracks to be able to decrease, and to return to the state of stability quickly at the severe lane change.

• 한국자동차공학회논문집
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• 제15권5호
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• pp.180-187
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• 2007

This paper presents a mathematical vehicle model that is designed to analyze the dynamic performance and to develop various safety control systems. Wheel slip controllers for ABS is also formulated to improve the vehicle response and to increase the safety on slippery road. Validation of the model and controller is performed by comparison with a commercial software package, CarSim. The result shows that performances of developed vehicle model are in good accordance with those of the CarSim on various driving conditions. Developed ABS controller is applied to the vehicle model and CarSim model, and it achieves good control performance. ABS controller improves lateral stability as well as longitudinal one when a vehicle is in turning maneuver on slippery road. A driver model is also designed to control steer angle of the vehicle model. It also shows good performance because the vehicle tracks the desired lane very well.