• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1605-1608
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• 1997

In this paper, a new onmidirectional robot with one spherical wheel is porposed. The peculiar structure of the proposed mobile robot makes it possible not only to move sideways but to be easy to implement. The wheel is derived by two stepping motors and equipped with 8-infrared sensors. To prove the validity of the proposed robot, the experiment of going through a way is performed.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.195-201
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• 2002

This paper deals with the precision grinding for aspherical surface of optical parts. A parallel grinding method using the spherical wheel was suggested as a new grinding method. In this method, the wheel axis is positioned at a $\pi$/4 from the Z-axis in the direction of the X-axis. An advantage of this grinding method is that the wheel used in grinding achieves its maximum area, reducing wheel wear and improving the accuracy of the ground mirror surface. In addition, a truing by the CG (curve generating) method was proposed. After truing, the shape of spherical wheel transcribed on the carbon is measured by the Form-Talysurf-120L. The error of the form in the spherical wheel which is the value ${\Delta}x$ and $R{^2}{_y}$ inferred from the measured profile data is compensated by the re-truing. Finally, in the aspherical grinding experiment, the WC of the molding die was examined by the parallel grinding method using the resin bonded diamond wheel with a grain size of ＃3000. A form accuracy of 0.16${\mu}m$ P-V and a surface roughness of 0.0067${\mu}m$ Ra have been resulted.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.7
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• pp.713-717
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• 2014

In this paper, the travel control of the spherical wheeled robot with a mecanum wheel is impelemented. Four typical wheels or three omni wheels are used to consist of the ball-bot. the slip is occured when the typical wheels is used to the ball-bot. In order to reduce these slip, the spherical wheeled robot with macanum wheels is proposed. Through some experiments, we find that the proposed spherical wheeled robot with a mecanum wheel is superior to the conventional spherical wheeled robot with typical wheels.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.1113-1116
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• 2001

Recently, the needs of non-symmetric spherical lens are increasing. Machining non-symmetric spherical lens by general method is limited. This paper researches grinding machine method for non-symmetric spherical lens and accruable problems at processing lens using CAD/CAM. In addition, this paper researches the relation of curvatures to grinding wheel sizes.

• International Journal of Precision Engineering and Manufacturing
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• v.4 no.3
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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.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.12
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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.

• Proceedings of the KIEE Conference
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• 2008.10c
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• pp.6-8
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• 2008

Electrical machineries have been developed as following with various and high technical application in these days. Especially the robot is integrated system including mechanical structure, electronic control, and electrical technology. The robot system is not compact and has not natural motion like human, although the technology of robot has been developing continuously. The spherical wheel motor is useful electric machine for using robot joint as operation of 3-degrees of freedom. In this paper, a permanent magnet spherical wheel motor is introduced and performance characteristics are analyzed for improving of operation stability.

• Proceedings of the Korean Magnestics Society Conference
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• 2008.12a
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• pp.97.1-97.1
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• 2008

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1089-1090
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• 2010

• Journal of the Korean Society for Nondestructive Testing
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• v.28 no.2
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• pp.125-130
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• 2008

A spherical indentation has been proposed as a nondestructive method of measuring local residual stress field in laser-voided joints. The apparent yield strengths interpreted from the spherical indentation data of as-welded cutting wheel were compared with the intrinsic yield strengths measured at nearly equivalent locations in annealed wheel. Their difference along the distance from the welding line is welding stress distribution because the intrinsic yield strength is invariant regardless of the elastic residual stress. The spherical indentations show that the laser-welded diamond cutting wheel displays a 10 min-wide distribution of the welding residual stress and has peak compressive and tensile stresses in the shank and tip regions, respectively.