• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.226-232
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• 2002

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.103-108
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• 2007

This paper presents a friction model to realize self-excited vibration of multi-body systems. The friction coefficient is modeled with a spline function in most commercial codes. Even if such a function resolves the problem of discontinuity in friction force, it cannot realize self-excited vibration phenomena. Furthermore, as the relative velocity approaches zero, the friction coefficient approaches zero with the conventional model. So, slip occurs when small force is applied to the system. To avoid these problems a new friction model is proposed in this study. With the new friction model, the self-excited vibration can be realized since the friction coefficient changes with the relative velocity. Furthermore, the slip phenomena could be reduced significantly with the proposed model.

• 한국소음진동공학회논문집
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• 제17권6호
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• pp.524-530
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• 2007

This paper presents a friction model to realize self-excited vibration of multi-body systems. The friction coefficient is modeled with a spline function in most commercial codes. Even if such a function resolves the problem of discontinuity in friction force, it cannot realize self-excited vibration phenomena. Furthermore, as the relative velocity approaches zero, the friction coefficient approaches zero with the conventional model. So, slip occurs when small force is applied to the system. To avoid these problems a new friction model is proposed in this study. With the new friction model, the self-excited vibration can be realized since the friction coefficient changes with the relative velocity. Furthermore, the slip phenomena could be reduced significantly with the proposed model.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 추계학술대회논문집
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• pp.230-236
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• 2008

In this paper, a model-based stick-slip compensation for the micro-positioning is proposed using an enhanced stick-slip model based on statistical rough surface contact model. The smart structure is comprised with PZT (lead (Pb) zirconia (Zr) Titanate (Ti)) based stack actuator incorporating with the PID (Proportional-Integral-Derivative) control algorithm, mechanical displacement amplifier and positioning devices. For the stick-slip compensation, the elastic-plastic static friction model is used considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of system for the positioning apparatus was derived from the dynamic behaviors of structural parts. PID feedback control algorithms with the developed stick-slip model as well as feedforward friction compensator are formulated for achieving the accurate positioning performance. Experimental results are provided to show the performances of friction control using the developed positioning apparatus.

• 한국소음진동공학회논문집
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• 제18권11호
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• pp.1134-1142
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• 2008

In this paper, a model-based stick-slip compensation for the micro-positioning is proposed using an enhanced stick-slip model based on statistical rough surface contact model. The smart structure is comprised with PZT(lead (Pb) zirconia(Zr) Titanate(Ti)) based stack actuator incorporating with the PID(proportional-integral-derivative) control algorithm, mechanical displacement amplifier and positioning devices. For the stick-slip compensation, the elastic-plastic static friction model is used considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of system for the positioning apparatus was derived from the dynamic behaviors of structural parts. PID feedback control algorithms with the developed stick-slip model as well as feedforward friction compensator are formulated for achieving the accurate positioning performance. Experimental results are provided to show the performances of friction control using the developed positioning apparatus.

• 한국지반공학회논문집
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• 제21권1호
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• pp.93-103
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• 2005

대구경 현장타설말뚝에 대하여 하중전이 측정을 수반한 정재하시험, 동재하시험 및 유한차분해석을 수행하여 주면 마찰력 거동특성에 대한 연구를 실시한다. 주면 마찰력은 말뚝과 지반의 상대변위와 직접적으로 관계되므로 임의의 심도에서 측정한 말뚝의 하중전이량과 유한차분해석에 의한 주면지반의 변위와 응력을 이용하여 거동특성을 분석한다. 하중전이측정결과에 의하면 현장타설말뚝 주면을 따라 발휘되는 극한단위주면 마찰력은 중간 깊이인 모래자갈층과 자갈층 상부에서 먼저 나타난다. 또한 동일한 현장타설말뚝에 대하여 동재하시험과 정재하시험을 실시한 결과 주면 마찰력과 선단지지력의 거동특성이 상이하게 평가되었으며, 그 차이점에 대하여 논의한다.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2004년도 춘계학술발표회
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• pp.100-109
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• 2004

Is this study, results of static pile load tests of in-situ cast piles in weak or uncemented sedimentary rock layers have been analyzed and presented. Consdierations on the characteristics of soils sedimentary rocks have been made. From the measurements of strain gauges and extensometers the relationship of unit skim friction versus displacement and that of unit end bearing versus displacement have been obatined to verity the characteristics of bearing capacity of this uncemented sedimentary rock layers. Also, a comparison has been made between ultimate skin friction in compression and tension.

• 한국생산제조학회지
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• 제20권6호
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• pp.685-691
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• 2011

The Bearing preload units are used for stable rotational movements of high speed spindles. The feeding mechanism of the preload unit is important to prevent overheat of bearings and to keep constant bearing load under thermal deformation of spindle unit. In this study, ball slide guide and ball bush as feeding mechanism of preload unit are selected. The maximum static friction force, radial stiffness and damping ratio of ball slide guide with ball load, ball number and ball size are widely investigated. In conclusion, the surface of ball slide guide must be heat treated to reduce static friction force. The number and size of ball are increased to control sensitive bearing preload force.

• 한국철도학회논문집
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• 제10권4호
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• pp.431-437
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• 2007

This paper describes the dynamic modeling of a railway vehicle when it is under braking force. It is important for the enhancement of braking performance to establish a proper dynamic model of a railway vehicle because the braking performance is affected by some dynamic forces generated by a railway vehicle when it undergoes braking. In this paper, a dynamic model for one vehicle is suggested to compute the dynamic behavior of a railway vehicle in the HILS(Hardware In-the-loop Simulation) system for the railway vehicle braking devices. To simplify the dynamic model, friction between a wheel and a rail is assumed that there exist only the static and the dynamic friction forces. Static friction coefficient is also assumed to be a function of the running speed. Some simulations are carried out with various braking forces, and the braking characteristics according to the change of the braking force are discussed. This study can provide some fundamental results to construct the HILS system for braking devices of a railway vehicle.

• 한국도로학회논문집
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• 제16권1호
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• pp.21-30
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• 2014

PURPOSES : Evaluation of input parameters determination procedure for dynamic analysis of aggregates in DEM. METHODS : In this research, the aggregate slump test and angularity test were performed as fundamental laboratory tests to determine input parameters of spherical particles in DEM. The heights spreads, weights of the simple tests were measured and used to calibrate rolling and static friction coefficients of particles. RESULTS : The DEM simulations with calibrated parameters showed good agreement with the laboratory test results for given dynamic condition. CONCLUSIONS : It is concluded that the employed calibration method can be applicable to determine rolling friction coefficient of DEM simulation for given dynamic conditions. However, further research is necessary to connect the result to the behavior of aggregate in packing and mixing process and to refine static friction coefficient.