• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.614-617
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• 1995

The unbalance heavy-load elevation driving systems are composed of rotating link-mechanism and hydraulic cylinder which actuates elevation and compensates the static unbalance moment of supporting mechanism. Control and compensation of gun driving is very difficult because these mechanism imply highly nonlinearities due to hydraulic fluid characteristics and mechanical rotation of link-mechanism. In this study, through the analysis of manufactured link-mechanism, the optimal link-mechanism design of the elevating system is suggested. Also to estimate the control performance of the unbalance heavy-load elevation servo-control driving system, modeling and simulation of the system are carried out. To prove the reliability of performance estimation program,simulation results are compared with the experimental results. Both results are similar, therefore this program will be helpful to study the control performance improvement of the system.

• 로봇학회논문지
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• 제4권2호
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• pp.163-168
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• 2009

In this paper, a new driving mechanism of security robotswhich should overcome obstacles with stability even though movingin high speed is introduced. The driving mechanism has spring-based suspension and two wheels positively necessary to overcome obstacles. From the driving mechanism, it is mainly discussed how we can decrease overshoot and impulse occurred when the robot is in the process of overcoming obstacles. Finally, design parameters of the driving mechanism which guarantees stable motion while overcoming obstacles is deduced based on simulation results. Experiments are also followed to demonstrate how well the manufactured system works in its early stage of the practical use.

• 대한기계학회논문집A
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• 제21권6호
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• pp.871-883
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• 1997

Kinetodynamics of a cam driving slider mechanism consists of kinematic analysis and force analysis. The kinematic analysis is to determine the kinematic characteristics of a cam driving mechanism and a slider mechanism. The force analysis is to determine the joint forces of links, the contact forces of the cam and follower, and the driving torque of a main shaft. This paper proposes a close loop method and a tangent substitution method to formulate the relationships of kinematic chains and to calculate the displacement, velocity and acceleration of the cam driving slider mechanism. Also, and instant velocity center method is proposed to determine the cam shape from the geometric relationships of the cam and the roller follower. For dynamic analysis, the contact force and the driving torque of the cam driving slider mechanism are calculated from the required sliding forces, sliding motion and weight of the slider.

• Tribology and Lubricants
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• 제14권4호
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• pp.51-57
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• 1998

Recently, bent-axis-type axial piston pumps driven by rods being in extensively used in the world, because of simple design, lightweight, effective cost. So, to guarantee the quality of bent-axis-type axial piston pumps driven by rods, it is necessary to know characteristics of the driving mechanism of rods. But, as they perform both reciprocating and spinning motions, it is difficult to understand driving mechanism. In this paper, I studied the theoretical driving mechanisms of cylinder block driven by rods through geometric method. I found that the cylinder block was driven by one rod in limited area and the driving area was changed by rod's tilting angle and cylinder block's swivel angle.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.703-707
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• 2000

This paper studied on the lateral motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But, if the gantry crane is unmanned, it is automatically controlled without any human operation. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to these problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane are derived. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and the yaw angle. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.336-336
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• 2000

This paper studied on the yaw motion of the gantry crane which is used for the automated container terminal. Though several problems are occurred in driving of gantry crane, they are solved by the motion by the operator. But if the gantry crane is unmanned, it is automatically controlled without any human operation. There are two types, cone and flat typo in driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. To bring a solution to these problems, the dynamic equation of the gantry crane driving mechanism is derived and it used PD(Proportional-Derivative) controller to control the lateral vibration. The simulation result of the driving mechanism using the Runge-Kutta method is presented in this paper.

• 대한기계학회논문집A
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• 제32권3호
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• pp.223-231
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• 2008

This paper introduces a robot called the MRINSPECT V (Multifunctional Robotic crawler for Inpipe in-SPECTion V) for the inspection of pipelines with a nominal 8-in inside diameter. Based on the mechanism of the previous model MRINSPECT IV, we developed a new MRINSPECT V by using the differential driving mechanism, so that just simply controlling the speed of each driving units helps the robot to travel effectively inside the pipelines. Furthermore, the robot uses clutches in transmitting driving power to wheels. This clutch mechanism enables MRINSPECT V to select the suitable driving method according to the shape of pipeline. In this paper, the critical points in design and construction of the proposed robot are described with the preliminary results to provide good mobility and increase the efficiency.

• 한국윤활학회:학술대회논문집
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• 한국윤활학회 1997년도 제26회 추계학술대회
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• pp.76-85
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• 1997

Recently, bent-axis-type axial piston pumps drived by rod being in extensively used in the world, because of simple design, lightweight, effective cost. So, to guarantee the quality of bent-axis-type axial piston pumps drived by rods, it is necessary to know chracteristics of the forces applied to rods and the driving mechanism of rods. But, as they perform both reciprocating and spinning motions, it is difficult to understand driving mechanism. In this paper, I explained the theoretical driving mechanisms of cylinder block drived by rods through geometric method and the characteristics of the forces applied to them.

• International Journal of Precision Engineering and Manufacturing
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• 제8권3호
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• pp.3-7
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• 2007

There have been numerous studies directed toward the development of driving mechanisms for off-road mobility and rescue robots. To achieve surveillance, reconnaissance, and rescue, it is necessary for robots to have a driving mechanism that can handle off-road environments, We propose a new type of single-track driving mechanism with a variable geometry for a rescue robot, This mechanism has a symmetric configuration so that the robot can advance in two directions and also remain operable when overturned. By transforming its geometry, the robot can reduce energy consumption in steering and rotating as well as maximize its ability to climb obstacles such as stairs. The robot is also designed to have a compact size and low center of gravity to facilitate driving when on a set of stairs. In this paper, we analyzed the design parameters of the robot for the four phases of climbing stairs and determined the specifications needed to enhance its adaptability.

• 대한교통학회지
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• 제34권1호
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• pp.15-28
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• 2016

본 연구는 최근 이슈가 되는 난폭운전과 보복운전의 발생 메커니즘을 운전행동 결정요인(대인분노와 공격성)과 위험운전 행동요인(난폭운전행동과 과속위험행동, 음주운전행동, 주의산만, 대처미숙)을 통해 분석하고, 예방 대책을 마련하는 것을 목표로 진행하였다. 본 연구의 결과를 정리하면, 첫째, 도로교통공단 7개 지부에서 교통법규 위반자와 교통사고 야기자 351명을 대상으로 실시한 설문결과를 통해 운전 중 난폭운전과 보복운전의 심각성과 맞춤형 교육의 형태, 적정 시간, 교육내용 등 요구사항을 파악할 수 있다. 둘째, 난폭운전과 보복운전에 운전행동 결정요인과 위험운전 행동요인의 세부 항목 관련성 유무와 메커니즘을 Figure 3과 Table 8을 통해 명확히 파악할 수 있다. 이를 통해, 난폭운전과 보복운전 대책의 우선순위와 가중치 등을 요인별, 항목별로 선정할 수 있다. 셋째, 난폭운전과 보복운전 메커니즘 분석모형을 통해 예방 대책을 Table 9 - Table 10과 같이 공통대책과 각 요인별 맞춤형 대책으로 구분하여 제시할 수 있었다.