• Journal of the Korean Geotechnical Society
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• v.34 no.9
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• pp.33-42
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• 2018

When an off-road tracked vehicle travels, an engine thrust that is transmitted to the continuous track induces a shearing action on the soil-track interface. Consequently, the relative displacement known as slip displacement takes place on the soil-track interface, which develops an associated soil thrust acting as a traction force. For the loose or soft ground conditions, an excessively large slip displacement can be required for the development of the desired soil thrust which will make the tracked vehicle mobile and therefore the outer surface of the continuous track is generally designed to protrude with grousers. This paper fundamentally studied the effect of grousers on the soil thrust of off-road tracked vehicles. Based on the soil-track interaction theory, a new soil thrust assessment method that properly takes into account the effect of grousers was developed. Also, the soil thrust of off-road tracked vehicles equipped with a number of grousers was evaluated using the developed assessment method. The results showed that grousers increased the soil thrust of the continuous track, enhancing the overall tractive performance of off-road tracked vehicles. These effects were more obvious as the height of grouser increased and the spacing of grouser decreased; thus, it is concluded that the grouser which has smaller shape ratio (span of the grouser to a grouser height) significantly enhances off-road tracked vehicle's performance.

• Journal of the Korean Society for Railway
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• v.19 no.1
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• pp.67-76
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• 2016

The asphalt-concrete trackbed system has many advantages in terms of maintenance and economics. However, methods to investigate practical use corresponding to the development of the trackbed system must be developed. The primary objective of this study was to evaluate the dynamic performance of the asphalt system in accordance with both the elastic and viscoelastic material characteristics and design thickness of the asphalt trackbed. More specifically, in order to reduce the uncertainty error of the Finite Element(FE) model, a three-dimensional full scale FE model was developed and then the infinite foundation model was considered. Finally, to compare the condition of viscoelastic materials, performance evaluation of the asphalt-concrete trackbed system was used to deal with the dynamic amplification factors; numerical results using isotropic-elastic materials in the FE analysis are presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.55-56
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• 2007

• Journal of Ocean Engineering and Technology
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• v.20 no.6 s.73
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• pp.93-100
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• 2006

This paper is concerned with the dynamic analysis of an underwater tracked vehicle, operating on extremely soft soil of the deep-seafloor. The vehicle is assumed as a rigid-body with 6-dof. The orientation of the vehicle is defined by four Euler parameters. To solve the motion equations of the vehicle, the Newmark numerical integrator is used in the incremental-iterative algorithm. The normalization constraint of Euler parameters is satisfied by using of a sequential updating method. The hydrodynamic force and moment are included in the tracked vehicle's dynamics. The hydrodynamic effects on the performance of tracked vehicles are investigated through numerical simulations.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.6
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• pp.178-188
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• 2003

A study on the dynamic analysis of a tracked vehicle for mining on deep-sea bed with very soft soil is presented. An equation for the interaction between track and soft soil is employed to develop a track/soil interaction module called TVAS. The vehicle is modeled as a multi-body dynamic system using a multi-body dynamic analysis program. The developed module is incorporated into the multi-body dynamic analysis program with a user subroutine. The dynamic behavior and design of the mining vehicle on deep-sea bed is investigated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.349-350
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• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.1303-1304
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• 2011

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.867-872
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• 2007

A tracked robot has an excellent mobility on the rough terrain. Especially, a tracked robot for driving has to get structural function in the every field. In this paper, we propose a tracked robot of a small rear wheel typed. Also compared and estimated a driving analysis about the tracked robot in considered the general environment. Compared 2 models are different in size of rear wheels but front wheels are same size each other. From comparing model, the radius of front wheels is 100mm and the radius of rear wheels is 100mm. The radius of front wheels is 100mm and the radius of rear wheels is 70mm from proposed tracked robot. Depend on these radiuses of values we are known driving torque values of an actuating wheel using Recurdyn. And estimated stress of rotated track by an actuating wheel using Ansys. finally, the designed robot has size of $600mm\;{\times}\;330mm\;{\times}\;150mm$, weight is 27kg and the tracked robot is actuated by 2 geared DC motors.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.2
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• pp.47-55
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• 2012

This work deals with dynamic analysis of a monorail system with magnetic caterpillar where magnets are embedded inside each articulated element of the caterpillar, augmenting traction force of main rubber wheels to climb up slope up to 15 degree grade. Considerations are first given to determine stiffness of the primary and secondary suspension springs in order for the natural frequencies of car body and bogie associated with vertical, pitch, roll and yaw motion to be within generally accepted range of 1-2 Hz. Equations for calculating magnetic force needed to climb up given slope are derived, and a magnetic caterpillar system for 1/6 scale monorail is designed based on the derivation. To assess the hill climbing ability and cornering stability, and make sure smooth operation of the side and vertical guiding wheels which is critical for safety, a multibody model that takes into account of every component level design characteristics of car, bogie, and caterpillar is set up. Through hill climbing simulation and comparison with measurement of the limit slope, the validity of the analysis and design of the magnetic caterpillar system are demonstrated. Also by studying the curving behavior, maximum curving speed without rollover, functioning of lateral motion constraint system, the effects of geometry of guiding rails are studied.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.20 no.1
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• pp.237-243
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• 1996

Current low head and small scale hydroturbines have limitations in the minimum required head and flow rate for efficient operation. This study attempts to develop a new concept hydroturbine which is expected to run efficiently even in very low head and small flow rate, so that the limitations on the conventional small scale hydropower could be alleviated and competition with other alternative energy sources in the economic respect could be attained. A small scale catapillar track- hydroturbine was fabricated and the performance test was carried out in a water tunnel over the head range of H = 0.8 m ~ 1.26 m. The peak turbine efficiency was 41.3% at the speed ratio of 0.6, and the turbine loss was mostly due to the friction at the chain drive used for power transmission from the runner to the shafts. This type of turbine is expected to become competitive when some improvement in the power transmission mechanism is made.