• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2501-2513
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• 1994

In this paper, a compact, light-weight, universal, spherical 3-degree-of-freedom, parallel-structured manual controller with high reflecting-force capability is implemented. First, the position analysis, kinematic modeling and analysis, force reflecting transformation, and applied force control schemes for a parallel structured 3 degree-of-freedom spherical system have been described. Then, a brief description of the system integration, its actual implementation hardware, and its preliminary analysis results are presented. The implemented parallel 3 degree-of-freedom spherical module is equipped with high gear-ratio reducers, and the friction due to the reducers is minimized by employing a force control algorithm, which results in a "power steering" effect for enhanced smoothness and transparency (for compactness and reduced weight).d weight).

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.10
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• pp.572-581
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• 2000

When the manipulator consisting of high ratio gear reducers at its joints is used as the slave manipulator in teleoperated systems, its dynamic characteristics is much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude. The control input saturation generates an windup phenomenon that the system stability and position tracking performance of the slave manipulator are to be deteriorated. This paper proposes an force reflecting control scheme and its design method which compensates the control input saturation with absolute stability. The proposed scheme is shown to give a stable force reflection while compensating for control input saturation effectively.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.132-138
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• 2000

Complex gear shifting and high speed-reduction ratio reduce the transmission efficiency in power driveline of agricultural tractors. According to a field test, the power transmission efficiency of a tractor in transporting operations was estimated about 70%. However, the actual efficiency was found by the experiment to fluctuate in a range of 56 to 87%. Therefore, the constant efficiency model commonly used for a simulation of power drivelines is not likely to simulate its performance more accurately. In order to predict power transmission efficiency more accurately, a new model was proposed and the new concepts of the maximum efficiency and sticking torque were introduced. The error mean between the measured and the predicted efficiencies was about 2.3% in mean. The new model reflecting the transmission characteristics in the power driveline of tractors could be used to analyze and predict the power transmission performance of tractors more accurately.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.267-267
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• 2000

We developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. The robot overcomes the limit of the driving torque of conventional BWRs. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. The BWR was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. In the performance test, the BWR peformed nice motions of sitting-up and sitting-down. Through the test, we could find capability of high performance in biped-walking.

• Journal of Power System Engineering
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• v.6 no.2
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• pp.73-81
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• 2002

In this study, electronically controlled automatic transmission adopted on a subcompact model in the market was modelled, and the driving performances of the transmission were simulated with the models. Kinetic and dynamic models of working components are established. The driving simulation program is developed with those models, and the various driving conditions are analyzed. With the results, the dynamic behaviour of the engine and the automatic transmission is easily understood. Especially, the transient performances of torque converter and clutches are deeply analyzed. Skipping the vehicle road test by using this analyzing tool, we can expect the cost down and the reduction of the development period of automatic transmission.

• Journal of Power System Engineering
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• v.19 no.6
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• pp.33-38
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• 2015

In this study new CVT(Continuously Variable Transmission) system which is adaptable to a small size electric vehicle is proposed available to gradient response CVT. New pulleys consist of springs adapted driving pulley and driven pulley. At the moment a small electric vehicle drive a slope, new system respond to a gradient as overcoming tensional force of springs. We made prototype of gradient response CVT to test parts performance and travelling performance test. As a result of test, belt pitch diameter varied for high torque direction at the gradient. In the flat travelling, acceleration travelling and gradient travelling performance test, the small electric vehicle with gradient response CVT get improved perfomance than the small electric vehicle with reduction gear.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.507-510
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• 2002

We developed a human-sized BWR(biped walking robot) named KUBIRI driven by a new actuator based on the ball screw which has high strength and high gear ratio. KUBIRI was developed to walk autonomously such that it is actuated by small torque motors and is boarded with DC battery and controllers. To utilize informations on the human walking motion and to analyze the walking mode of robot, a motion capture system was developed. The system is composed of the mechanical and electronic devices to obtain the joint angle data. By using the obtained data, a 3-D graphic interfacer was developed based on the open inventor tool. Through the graphic interfacer, the control input of KUBIRI is performed.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.2
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• pp.185-191
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• 2001

In many papers, the powertrain system generally has been madeled as one-dimensional torque model. One-dimensional powertrain model may calculate the torque correctly but it does not consider the non-rotational degrees-of-freedom of the powertrain components and the interaction of these degrees-of-freedom with the vehicle body frame and suspension. To consider the non-rotational degrees of freedom, the differential is modeled as a three-dimensional rigid body in this paper. A constant velocity joint is newly formulated and a relative constraint is also formulated to model the motion transfer due to gear ratio of the differential. Implementing the proposed powertrain system in the multibody model, more detail dynamic responses can be obtained. Obtained outputs such as reaction torques on the constant velocity joint and reaction forces on the rack can be useful data in the design of a powertrain.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.3
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• pp.102-109
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• 2009

The stumble (abrupt and big acceleration decrease) occurring in manual transmission vehicle while standing start is analyzed by simulation model. This model was verified by comparing to test results. Mechanism of the stumble is clarified by analyzing simulation results and the key mechanism of the stumble is angular vibration of powertrain including wheel and tires. As a result, several method that can reduce the stumble is proposed by carrying out parametric study, increasing low end torque of engine, increase gear ratio etc.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.30 no.6
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• pp.929-935
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• 1997

The total energy of fish movement and the maximum burst swimming speed were estimated and formulated in accordance with body length and water temperature for several species in fisheries by empirical methods and also by using published results. Under the assumption of swimming energy reserve of a fish at the initial rest state, the swimming endurance of fish with different body lengths, swimming speeds and angular velocity was calculated using the relevant equations under similar conditions in tank experiments as well as natural conditions in field. Relative swimming energy efficiency or the transition swimming speed between red and white muscle for energy consumption was represented as a trigonometric function of swimming speed ratio. Therefore, this model does closely approach the actual swimming abilities and their limits especially in relation to the fishing gear operation and allow for the greater vitality of the wild fish in the fields.