• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.566-569
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• 2000

This hybrid position/force control for the dynamic walking of the biped robot is performed in this paper. After the biped robot was modeled with 14 degrees of freedom of the multibody dynamics, the equations of motion are constructed using velocity transformation technique. Then the inverse dynamic analysis is performed for determining the driving torques and the ground reaction forces. From this analysis, obtains the maximum ground contact force at the moment of contacting which act on the rear of the sole of swing leg and the distribution curve of the ground reaction. Because these maximum force and distribution type acts an important role to the stability of the whole dynamic walking, they are reduced and distributed smoothly by means of the trajectory of the modified ground reaction force. This new trajectory is used to the reference input for more stable dynamic walking of the whole walking region.

• 대한기계학회논문집A
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• 제34권7호
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• pp.919-928
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• 2010

연속주조 시에 폭변경 속도를 향상시키기 위해 폭조정의 4 가지 패턴에 대해 연구하였다. 주요 사항은 폭변경 장치의 구동력을 최소화하고, 몰드 내의 응고막의 변형해석 모델을 개발하고, 폭변경 속도 상승을 제한하는 주요인자를 도출하는 것이다. 폭변경 실험을 근간으로 4 개 패턴의 주요 특징을 도출하였고, 각 패턴에 대한 힘을 비교하였다. 실험은 각 패턴의 구동력 비교를 위해 동일한 주조속도에서 수행하였다. 응고막변형 해석모델의 변수를 조정하기 위해 실험결과를 모델에 적용하였다. 폭변경 속도를 상승시키고, 구동력을 저감시키기 위해 패턴의 변수를 제어하였다. 가장 효율적인 패턴은 고속패턴이었으며, 구동력을 저감하기 위한 주요인자는 구동장치가 이동할 때의 기울기였다.

• Journal of international Conference on Electrical Machines and Systems
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• 제2권1호
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• pp.51-56
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• 2013

With the active development of hybrid electric vehicle (HEV), the application of interior permanent magnet synchronous motor (IPMSM) has been expanded. As wide driving region of IPMSM for electric vehicle (EV) traction motor is required, many studies are conducted to improve characteristics of a motor in both low and high-speed driving regions. A motor in high-speed driving region generates (produces) large stress to the rotor. Thus, the rotor needs to be designed considering the mechanical safety. Therefore, in this paper, we conducted stress analysis and electromagnetic analysis to determine the centerpost's distance which is considered important during the design of IPMSM for EV traction motor in order to secure mechanical safety and satisfy specifications of output requirement.

• 로봇학회논문지
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• 제4권4호
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• pp.265-272
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• 2009

IVarious driving mechanisms to adapt to uneven environment have been developed for many urban search and rescue (USAR) missions. A tracked mechanism has been widely used to maintain the stability of robot's pose and to produce large traction force on uneven terrain in this research area. However, it has a drawback of low energy efficiency due to friction force when rotating. Moreover, single tracked mechanism can be in trouble when the body gets caught with high projections, so the track doesn't contact on the ground. A transformable tracked mechanism is proposed to solve these problems. The mechanism is designed with several articulations surrounded by tracks, used to generate an attack angle when the robot comes near obstacles. The stair climbing ability of proposed robot was analyzed since stairs are one of the most difficult obstacles in USAR mission. Stair climbing process is divided into four separate static analysis phases. Design parameters are optimized according to geometric limitations from the static analysis. The proposed mechanism was produced from optimized design parameters, and demonstrated in artificially constructed uneven environment and the actual stairway.

• Journal of Electrical Engineering and Technology
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• 제6권5호
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• pp.613-617
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• 2011

In the present paper, a new type of electrical actuator, an electromagnetic force driving actuator (EMFA), applicable to air circuit breaker is developed and analyzed. Transient analysis is performed to obtain the dynamic characteristics of EMFA. The distribution of static magnetic flux is obtained using the finite element method. The coupled problems of electrics and mechanics governing equations are solved using the time-difference method. According to the interception rate of each contactor, investigation of the contactor spring load condition is conducted and applied to the threelink system. Comparisons of the dynamic characteristics of the three-link simulation and experimental data are performed.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제51권12호
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• pp.659-663
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• 2002

The brake systems of high-speed train are to be equipped with three different brake systems, such as regenerative brake with regenerative feedback in driving car, a pneumatic disc brake, and non-contact linear eddy-current brake(ECB). The regenerative brake and the pneumatic disc brake are acting on the wheels. Their achievable braking force depends on the adhesive coefficient, which is influenced by the weather condition and speed, between the wheel and The linear eddy current brake gets an economical solution in the high-speed train because of the independence of the adhesive coefficient, no maintenance needed. and the good control characteristics. The braking force and the normal force of ECB for korean high-speed train are analysed by the 2D FEM(Finite Element Method). Finally the normal force is compared with the experiential values to verify the analysis.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제49권3호
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• pp.138-144
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• 2000

The detent force caused by the interaction of magnets with the teeth of a armature core deteriorates the driving performance of a permanent magnet linear synchronous motor. In this paper, we analyze the fields and forces of a linear synchronous motor with segmented or skewed magnet arrangement according to lateral overhang length of permanent magnets. For the analysis, the 3-dimensional equivalent magnetic circuit network method is used. The detent force and the static thrust are analyzed according to the segmented or skewed angle and the overhang length of permanent magnets, and the optimal angles that the detent force is minimized are found out in each case. The analysis results are compared with the experimental ones and shown a reasonable agreement.

• 대한기계학회논문집A
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• 제21권5호
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• pp.809-818
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• 1997

An efficient non-recursive formulation of dynamic force analysis has been developed for serially connected multibody systems. Although derivation of equations of motion is based on a recursive dynamic formulation with joint relative coordinates, in the proposed formulation, dynamic forces such as joint reaction forces and driving force are computed non-recursively for specified joints. The efficiency of the proposed formulation has been proved by the operational count and the CPU time measure, comparing with that of the conventional recursive Newton-Euler formulation. A simulation of 7-DOF RRC robot arm has been carried out to validate solutions of reaction forces by comparing with those from a commercial dynamic analysis program DADS.

• 한국산학기술학회논문지
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• 제14권1호
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• pp.57-62
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• 2013

카트 차체에는 현가장치와 차동장치가 존재하지 않으므로 카트주행 중 발생하는 프레임의 변형은 탄성변형으로 인한 주행성능과 프레임의 피로수명에 영향을 미친다. 선회주행 시 비틀림 변형에 의한 카트의 거동은 이 두 가지 변형에 결정적 원인을 제공한다. 이러한 곡선구간에서 카트의 동적 거동을 분석하기 위하여 GPS를 이용하여 차량의 궤적을 추적하고 카트 프레임 강에 작용하는 비틀림 응력을 측정하였다. 레저와 레이싱 카트 프레임의 기계적 성질을 파악하기 위해 재질 분석과 인장시험을 실시하여 각 프레임의 재료 특성을 분석하였다. 비틀림 응력집중과 프레임 비틀림은 프레임 해석을 통해 조사되었다. 또한 주행 분석 장치를 이용하여 레저와 레이싱 카트를 각 조건별로 실차실험을 수행하였고, 이를 통해 곡선구간에서 카트의 주행거동을 분석하였다. 선회주행 시 차량에 원심력에 의한 하중이동의 현상이 발생했으며, 이로 인해 카트 프레임 강에 비틀림 응력이 발생하였다.

• 한국해양공학회지
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• 제24권3호
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• pp.72-78
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• 2010

This paper presents a design approach of driving system for tidal flat vehicle. Firstly, topographic and geological survey of tidal flat zone was accomplished. 'Anac' located in the west-south coast of South Korea was chosen for the survey area. From the survey, the basic design data such as distribution of gullies size and bearing pressure was obtained. To figure out the shape of driving system, numerical simulations were carried out. Through the numerical dynamic simulations using $Recurdyn^{TM}$, the performance of various concepts of driving system was analyzed. From the results, we propose the conceptual design with the functions: a) low contact pressure, b) powerful driving force transmission, c) adaptation to the ground undulation. To satisfy these functional requirements, the driving system adopts rubber tracks, sprockets, tires and suspensions. The static structural analysis of the frame structure was executed as well, from which the detailed design was drawn out. To validate the performance of the designed driving system, the test vehicle which has gasoline engine of 27HP and mechanical transmission was constructed. The driving tests of the vehicle were performed twice at the "Anac" area, and unveiled its capability.