• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.11
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• pp.979-986
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• 2016

The tripod shafts of constant-velocity joint are used in both the trains KTX and KTX-sanchon. It is an important component that connects the motor reduction unit and the axle reduction unit in a power bogie. The tripod shaft not only transmits drive and brake torque in the rotational direction, but also slides in the axial direction. If the drive system is loaded with an excessive torque, the fuse part of the shaft will be fractured firstly to protect the other important components. In this study, a rig was developed for conducting torsion tests on the tripod shaft, which is a type of mechanical fuse. The tripod shafts were subjected to torsional fracture test and torsional fatigue test on the rig. The weak zone of the tripod shaft was identified, and its fatigue life was predicted using finite element analysis (FEA). After analyzing the FEA results, design solutions were proposed to improve the strength and fatigue life of the tripod shaft. Furthermore, the deterioration trend and time for failure of the tripod shaft were verified using the hysteresis loops which had been changed with the advancement of the torsional fatigue test.

• Journal of Biosystems Engineering
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• v.38 no.2
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.

• Journal of Dental Rehabilitation and Applied Science
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• v.28 no.1
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• pp.57-66
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• 2012

The purpose of this study was to evaluate the relation between intentionally induced internal stress and cyclic fatigue failure of ProTaper Universal. ProTaper Universal (Dentsply Maillefer) S1, S2, F1, F2, F3, F4 and F5 (25 mm length) were used in this study. To give the internal stress, the ProTaper Universal were put into the .02 taper Endo-Training-Bloc (Dentsply Maillefer) until auto-stop by torque controlled motor. The rotation speed was 300 rpm and torque value was 1.0 Ncm. ProTaper Universal were grouped by the induced number of internal stress and randomly distributed among one control group and three experimental groups (n=10). The four groups were Stress 0 (control), Stress 1, Stress 2 and Stress 3. These instruments were rotated until separation. For cyclic fatigue measurement, inclined plane was used and time for separation was recorded. It was statistically analyzed using two-way ANOVA and Duncan post-hoc test at 95% confidential level. In all ProTaper Universal, there was statistically significant decrease on time for separation in Stress 3. In F2 and F3, there were statistically significant difference between control group and all experimental groups. And in F4 and F5, Stress 2 and 3 groups showed significantly lower cyclic fatigue resistance from Stress 0 group. In the limitation of this study, cyclic fatigue failure of ProTaper Universal is influenced by accumulated internal stress.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.36 no.1
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• pp.31-36
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• 2012

Military vehicles, compared to conventional vehicles, require higher driving performance, quieter operation, and longer driving distances with minimal fuel supplies. The series hybrid electric vehicle can be driven with no noise and has high initial startup performance, because it uses only a traction motor that has a high startup torque to drive the vehicle. Moreover, the fuel economy can be improved if the vehicle is hybridized. In series hybrid electric vehicles, the electric generation system, which consists of an engine and a generator, supplies electric energy to a battery or traction motor depending on the vehicle driving state and battery state of charge (SOC). The control strategy determines the operation of the generation system. Thus, the fuel economy of the series hybrid electric vehicle relies on the control strategy. In this study, thermostat, power-follower, and combined strategies were compared, and a 37% improvement in the fuel economy was implemented using the combined control strategy suggested in this study.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.7
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• pp.2925-2930
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• 2011

A vehicle fuel economy is very important issue in the view of fuel cost and environmental regulation. The fuel economy is much improved according to the development of electric, electronic and mechanical technology, but up to now the measurement of it tests the given mode(LA-4, FTP-75, etc) within computer simulation program and engine dynamometer. This fuel economy is different with it of real road. The one of main reason is not considered the gradient of the road. To estimate the effects of fuel economy at highway with gradient in this paper, we measure the amount of fuel consumption and calculate the fuel economy of it with running the Youngdong highway with high gradient. Also this paper analysis and compares the fuel economy with gradient and without gradient when the vehicle runs the same driveway. Then we calculate the total energy created the difference of fuel consumption amount of the two cases and calculate the consumpted energy by tire driving force from the torque and power of engine in the simulation. This paper verifies the relation of the driving force and the total energy by creating the difference of fuel consumption amount. This paper also proposes the method of fuel economy improvement despite of gradient at the result.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.38 no.11
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• pp.951-956
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• 2014

Steady-state thermal analysis was performed on a thermal equivalent circuit to determine the heat generation during operation of an interior permanent magnet synchronous motor (IPMSM). New machines must be compact and light and produce high torque density under extreme environmental conditions. Thermal analysis of an IPMSM is particularly important because excessive heat generated from the core and magnet reduces the IPMSM's output and has adverse effects on the durability. Therefore, steady-state thermal analysis of an IPMSM was performed for changes in the design variables using a thermal equivalent circuit. The changed variables were the axis length and thickness of the housing. The results of this method were compared with those of the finite element method to verify the accuracy and reliability.

• Journal of Advanced Navigation Technology
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• v.16 no.6
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• pp.1123-1133
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• 2012

This study configuration Vector Control System which is stable and has outstanding Dynamic Characteristics in Very Low Speed Region and Low Speed Region, and proposes Instantaneous Speed Observer and Very Low Speed Control method and vector control system of the speed estimation a using Reduced-Dimensional State Observer. The Observer proposed in this system, by appling Reduced-Dimensional State Observer to Load-Torque estimation and using for speed estimation, implements system composition simply and is capable of accurate Instantaneous Speed estimation in Very Low Speed Region. Also, this study reduces influence by System Noise and suggests an induction motor speed control system which is effective in Load Disturbance, modeling error, estimation noise and so on without changing pole of an Observer.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.7
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• pp.937-943
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• 2013

An independently driven electric corner module cannot be applied to an actual vehicle without some difficulty, because of vehicle safety problems in the case of malfunctions and degraded ride and handling performance owing to the increase in the unsprung mass. In this study, a simulator is developed to evaluate the vehicle driving performance in order to solve ride and handling problems. Component modeling of a small-sized electric vehicle with an independently driven electric corner module is performed using MATLAB/Simulink. The vehicle is modeled by using CarSim, which can be used to analyze the vehicle maneuvers with 27 DOFs. The control algorithm for the improvement of vehicle driving safety and ride and handling performance is validated by using the developed simulator.

• Tribology and Lubricants
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• v.28 no.4
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• pp.167-172
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• 2012

The turbo pump of a liquid rocket engine is composed of three main parts: the oxidizer pump, fuel pump, and turbine. Liquid oxygen ($LO_X$) is the working fluid in the cryogenic environment in the oxidizer pump, but tests are usually performed using liquid nitrogen ($LN_2$), which has a boiling point similar to that of $LO_X$ but is comparatively safer and easier to use for the test. In this study, a bearing test rig is developed and its performance is evaluated using a cryogenic ball bearing with $LN_2$ as the working fluid. Verifying the performance of the bearing test rig is crucial for ensuring correct working of the turbo pump unit in the liquid rocket engine. A stable test rig for the bearing in a cryogenic environment makes the bearing technology enhance its reliability. The test results show that the system operates stably and the requirement of performance time of 500 s is met. The test results of temperature, motor speed, and torque are discussed. The developed cryogenic bearing test rig is expected to help in widening knowledge and expanding research on ball bearings in the future.