• 한국콘텐츠학회논문지
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• 제18권1호
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• pp.441-451
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• 2018

이번 논문의 주요 관점은 코리올리힘(Corioli's force)의 원리와 손끝의 감각을 이용하여 고속회전(RPM)에 의해서 기벽 표면에 흠집을 내어 스트라이프(Stripe)의 질감(texture)을 안쪽에서 외벽으로 밀어 늘리는 방식과 코리올리힘(원심력)의 다변화된 아름답고 다이나믹한 독특한 외벽 질감 표현이 관건인데 이를 코리올리힘 기법이라고 정하였다. 또한 전통적인 옹기(onggi)의 평저굽(Flat Bottom Foot)성형 방식을 전기물레를 이용하여 빠른 회전력으로 원통 안쪽에서 밖으로 밀어 외벽을 늘림과 동시에 바닥의 밑면을 평평하게 굽을 펴는 새로운 방식의 평저굽을 개발하였는데 이러한 기법들을 융합하여 새롭고 현대적이면서 독특한 인테리어 작품을 만드는 것이 목적이다.

• 한국정밀공학회지
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• 제28권5호
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• pp.559-564
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• 2011

For the safety of railway, it should be evaluated for the running safety by measuring the derailment coefficient. Although railway has run the fixed and maintained rail, some of railway is derailed. This report shows the results that performed the static load test, main line running test on the basis of the derailment theory and experience. It is executed main line test into more than 90km/h for estimating the curving performance and running safety of depressed center flat car of 3-axle bogie. As the test results, could confirm the curving performance and running safety of depressed center fiat car of 3-axle bogie from the results of the wheel unloading, lateral force, derailment coefficient etc. Derailment coefficient was less than 0.6, and lateral force allowance limit and wheel load reduction ratio were enough safe.

• International Journal of Automotive Technology
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• 제7권6호
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• pp.681-686
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• 2006

The current flat type side slip tester measures only the total side slip. Therefore, measurement techniques which can be used to determine the side slip for each alignment element were examined. Because the side slip related to the camber angle varies depending on the unit load per travel wheel while the side slip related to the toe angle does not on the unit per travel wheel, but depends only on the direction of the tire, the side slip for each alignment element can be determined separately.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.202-204
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• 2006

In this paper, the detection scheme of the spatial coordinates based on stereo camera for a Transformation algorithm of an Leg-wheel Hexapod Robot is proposed. Robot designed as can have advantages that do transfer possibility fast mobility in flat topography and uneven topography through walk that use wheel drive. In the proposed system, using the disparity data obtained from the left and right images captured by the stereo camera system and the perspective transformation between a 3-D scene and an image plane, depth information can be detected. Robot uses construed environmental data and transformation algorithm, decide wheel drive and leg waik, and can calculate width of street and regulate width of robot.

• 제어로봇시스템학회논문지
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• 제14권10호
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• 로봇학회논문지
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• 제17권4호
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• pp.500-507
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• 2022

In this study, a motion planning method based on the integer representation of contact status between wheels and the ground is proposed for planning swing motion of a 6×6 wheel-legged robot to cross large obstacles and gaps. Wheel-legged robots can drive on a flat road by wheels and overcome large obstacles by legs. Autonomously crossing large obstacles requires the robot to perform complex motion planning of multi-contacts and wheel-rolling at the same time. The lift-off and touch-down status of wheels and the trajectories of legs should be carefully planned to avoid collision between the robot body and the obstacle. To address this issue, we propose a planning method for swing motion of robot legs. It combines an integer representation of discrete contact status and a trajectory optimization based on the direct collocation method, which results in a mixed-integer nonlinear programming (MINLP) problem. The planned motion is used to control the joint angles of the articulated legs. The proposed method is verified by the MuJoCo simulation and shows that over 95% and 83% success rate when the height of vertical obstacles and the length of gaps are equal to or less than 1.68 times of the wheel radius and 1.44 times of the wheel diameter, respectively.

• 한국정밀공학회지
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• 제15권5호
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• pp.128-136
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• 1998

A mathematical model for investigating the form generation mechanism in the centerless infeed grinding process is described. For 3-D modeling of form generation, contact points are assumed to be on least squares contact lines at the grinding wheel, regulating wheel, and work-rest blade. Using force and deflection analysis, the validity of this assumption is shown. Based on the 2-D simulation model developed in the previous work and the least squares contact line assumption, a 3-D model is presented. To validate this model, simulation results were compared with the experimental works. The experiments and computer simulations were carried out using three types of cylindrical workpiece shapes with varying flat length. The experimental results agree well with the simulation. It can be seen that the effect of flat end propagated to the opposite end through workpiece reorientation.

• Journal of Mechanical Science and Technology
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• 제17권7호
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• pp.1026-1035
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• 2003

A computer simulation method for investigating the form generation mechanism in the centerless infeed (plunge) grinding process is described. For a 3-D simulation model of form generation, contact points are assumed to be on least squares contact lines at the grinding wheel, regulating wheel, and work-rest blade. Using force and deflection analyses, the validity of this assumption is shown. Based on the 2-D simulation model developed in the previous work and the least squares contact line assumption, a 3-D model is presented. To validate this model, simulation results were compared with the experimental works. The experiments and computer simulations were carried out using three types of cylindrical workpiece shapes with varying flat length. The experimental results agree well with the simulation. It can be seen that the effect of flat end propagated to the opposite end through workpiece reorientation.

• 한국공작기계학회논문집
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• 제14권3호
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• pp.110-115
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• 2005

Driving performance is affected by a steering mechanism and characteristics of the ground at off-road skateboarding. In order to drive on off-road, it is necessary off-road wheel and high performance steering mechanism to adapt on various configuration of the ground. In this paper, design factors are studied to affect to steering radius such as inclination angle of a king-bolt, distance of a wheel axle, and rolling angle of a deck plate. A steering system is adhered to inclination face of the deck plate. And, inclination angle is existed between the king-bolt and the flat face of the deck plate. Therefore, the wheel axle of the steering system can be steered by control of the rolling angle of the deck plate.

• 한국철도학회논문집
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• 제19권5호
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• pp.565-575
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• 2016

철도차량 영업 운행 중 빈번히 발생하는 차륜 마모, 손상 등의 결함을 제거하기 위하여 실시되는 차륜 전삭 공정과 관련하여 전삭 전후의 차량 동적성능을 분석하였다. 전동차를 대상으로 차륜 전삭 전후의 차륜답면형상을 계측, 분석하였으며 진동 및 승차감 특성을 분석하고자 차량 주행시험을 실시하였다. 시험결과, 차륜 전삭 후 차량 진동 RMS값은 전삭 전에 비하여 저감되었으며 철도차량 기술기준에 의거 분석한 차체 진동성능은 전삭 전에 비하여 개선되었다. 승차감레벨은 전삭 전에 비하여 전삭 후 좌우, 상하방향 모두 최대 약 3dB의 개선 효과를 보였으며 주행안전성 또한 개선됨을 확인하였다.