• Journal of the Korean Society for Railway
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• v.14 no.3
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• pp.203-210
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• 2011

This study formulates the theoretical wheel-set model to evaluate wheel-climbing derailments of rolling stock due to collision, and verifies this theory with dynamic simulations. The impact forces occurring during collision are transmitted from a car body to axles through suspensions. As a result of combinations of horizontal and vertical forces applied to axles, rolling stock may lead to derailment. The derailment type will depend on the combinations of the horizontal and vertical forces, flange angle and friction coefficient. According to collision conditions, the wheel-lift, wheel-climbing or roll-over derailments can occur between wheel and rail. In this theoretical derailment model of wheelset, the wheel-climbing derailment types are classified into Climb-over, Climb/roll-over, and pure Roll-over according to derailment mechanism between wheel and rail, and we proposed the theoretical conditions to generate each derailment mechanism. The theoretical wheel-set model was verified by dynamic simulations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.373-374
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• 2010

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.323-324
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• 2010

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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• pp.32-38
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• 2013

Small mobile robots which use round wheels are suitable for driving on a flat surface, but it cannot climb the obstacle whose height is greater than the radius of wheels. As an alternative, legged-wheels have been proposed by many researchers due to its better climbing performance. However, driving and climbing performances have a trade-off relationship so that their driving performance should be sacrificed. In this study, in order to achieve both driving and climbing performances, a new transformable wheel was developed. The developed transformable wheel can have a round shape on a flat surface and change its shape into legged-wheel when it makes a contact with an obstacle. For design of the transformable wheel, the performance of legged-wheel was analyzed with respect to the number and curvature of the leg, and then the new transformable wheel was designed based on the analysis. Contrary to the existing transformable wheels that contain additional actuators for the transformation, the developed transformable wheel can be unfolded without any additional actuator. In this study, in order to validate the transformable wheel, a simple robot platform was fabricated. Consequently, it climbed the obstacle whose height is 2.6 times greater than the wheel radius.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.740-743
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• 2005

Most works of the large vertical ceiling structures have been performed by human manually. These works require much more operation costs, labors and times, etc. Beside most people avoid this works because of it's characteristic such as danger, dirty and difficulty. So necessity of automation for these works has been rising. This automation needs a wall climbing mobile vehicle because of the movement of platform large workspace. In this study, we aim at develop the wheel which can be used for vertical wall-climbing mobile robot using electromagnet wheel. The wheel proposed can be available for several working processes on structures which consist magnetic substance.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.3
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• pp.329-334
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• 2008

It is well-known that a kind of wheel drive mechanism is usefully employed in various service robots. One of the essential requirements for such robots is regarded as the capability of climbing that enables them to run on an inclined road smoothly. So, this paper considers the capability of climbing in a wheel drive robotic mechanism and proposes a necessary discriminating condition to determine the specification of a driving actuator which will be employed. Consequently, it is expected that the proposed discriminating condition can be applied to wheel drive robotic mechanisms in the design aspect.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.169-170
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.11a
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• pp.215-216
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• 2010

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.108-117
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• 2011

This paper proposes an optimal ARS control of a two-wheel mobile inverted pendulum robot. Conventional researches are highly concentrated on the robust control of a mobile inverted pendulum on the flat ground, $i.e.$, mostly focus on the compensation of gyroscope signals. This newly proposed algorithm deals with a climbing control of a slanted surface based on the dynamic modeling using the conventional structure. During the climbing control of the robot, unexpected disturbance forces are essentially caused by the irregular contact force which comes from the irregular contact angle between the wheel and the terrain. The disturbances have effects on the optimal posture of the mobile robot to compensate the slanted angle. Therefore the dynamics equations through physical interpretation are derived for the selection of optimum climbing posture through ARS. Also using the ultrasonic sensor the slope information is obtained to compensate for the force of gravity. The control inputs are dynamically adjusted to climb up the slanted surface effectively. The proposed algorithm is demonstrated through the real experiments.

• International Journal of Railway
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• v.3 no.2
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• pp.60-67
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• 2010

This paper deals with an experimental study on the wheel flange climbing of railway vehicles, which is a major factor leading to derailment. An experiment is carried out on a 1/5-scale model wheelset of a truck used on a standard-gauge track, which is placed on a roller rig. The lateral external force acting on the wheelset is ramped up until derailment occurs under the condition of a fixed attack angle and wheel-load unbalance ratio. Three parameters, the height of wheel lift, the lateral force, and the wheel load acting on the outer rail, are measured until derailment occurs. From these measurements, it is possible to observe the behavior of the wheelset and to elucidate how the attack angle, the wheel-load unbalance ratio and the lateral external force affect flange-climb derailment. Then, a numerical simulation is carried out using an analytical model based on a single wheelset. As a result, the flange-climb behavior observed in the experiment can be explained theoretically on the bases of the analytical results, although further improvement of the model is desired.