• Title/Summary/Keyword: Gear Joint

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An Elastic Joint Manipulator for a Human friendly robot

  • Takahashi, Takayuki;Murayama, Yasushi;Wang, Zhi-Dong;Nakano, Eiji
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.44.3-44
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    • 2001
  • This articles describes a novel design elastic joint manipulator for a mobile robot, which works in an office environment with humans. The primary goal of this manipulator design is safeness on collision and contact. To achieve this, each joint is made of an elastic element and this is driver with a high ratio gear tram. The performance was verified, however, it has a serious drawback. It produce vibration, due to the elastic joints and high ratio gear train. We found that a sliding mode controller has an excellent performance for reducing such vibration. Results of computer simulation and experiments are shown.

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Modeling of 2D Joints Using Contact (접촉을 이용한 2차원 조인트들의 모델링에 관한 연구)

  • Han, Hyung Suk;Park, Tae Won
    • Journal of the Korean Society for Precision Engineering
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    • v.14 no.2
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    • pp.92-101
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    • 1997
  • In this paper, modeling methods for 2D joints are proposed. Earlier methods for modeling 2D joints that use geometric relationships may not consider irregularities or dynamic effects of joints. In any case, it is important to consider irregularities or dynamic effects. To consider those, methods that use dynamic contacts are proposed. With the method, 2D joints that have irregularities or dynamic effects amy be model- ed and analyzed. 2D joints that are developed are revolute, translational, gear and point-follower joint.

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Failure Examples Study for Tribological Characteristics of Drive Shaft and Axle System in Vehicles (자동차 드라이브 샤프트와 액슬 시스템의 트라이볼로지적인 특성에 관한 고장사례 고찰)

  • Lee, Il Kwon;Moon, Hak Hoon;Youm, Kwang Wook
    • Tribology and Lubricants
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    • v.29 no.6
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    • pp.397-402
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    • 2013
  • This study examined the tribological characteristics of the drive shaft and axle system in vehicles. The first drive shaft example contained end play for a CV joint that transferred part of the transmission power to the wheel. The joint part of the drive shaft was deformed because of reduced durability due to wear. Thus, vibrations caused the body to shake and become unbalanced when the drive shaft transferred the power. The second example was the cross-section of a shaft that connected the slip-connection of the propeller shaft on the input side to the yoke flange of the output side; the durability was reduced because of corrosion. End play caused by wear between the bearing and cross-section shaft appeared to cause shaking. In the third example, a grease leak reduced lubrication and thus caused damage to the hub bearing and inside the knuckle. The failure was produced by sticking. The fourth example had noise produced by the gear and gear transfer. This was due to the backlash of the pinion and few ring gears for the differential gear. Therefore, drive shaft and axle systems must be thoroughly checked and managed to minimize and reduce failure phenomena.

A Study on the Development of the Gear Profile Design Program (기어 치형 설계 프로그램 개발에 관한 연구)

  • Jung, Sung-Pil;Park, Tae-Won
    • Journal of the Korean Society for Precision Engineering
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    • v.26 no.8
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    • pp.104-111
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    • 2009
  • In this paper, the gear design program is presented. The profile of gears is created using classical mathematic formulations. In each gear, a kinematic joint is applied and one can define the 20 contact condition between gear pairs. Initial and boundary conditions such as force, torque, velocity, acceleration, etc. can be set. Thus, it is possible to analyze dynamic characteristics of gear pairs such as reaction moment and the variation of angular velocity. In order to find the optimal profile of gear pairs, two optimization methods based on design of experiments are inserted in the program; One is the Taguchi method and the other is the response surface analysis method. To verify the program, the rack & pinion gear is created and analyzed. Simulation results show that the developed program is useful and result data is reliable.

Analysis on the Vibration Characteristics of Reduction Gear Units for High-speed Trains (고속철도차량 감속구동장치 진동특성 분석)

  • Moon, Kyung Ho;Lee, Dong-Hyong;Kim, Jae Chul;Ji, Hae Young
    • Journal of the Korean Society for Precision Engineering
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    • v.30 no.7
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    • pp.694-701
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    • 2013
  • The gear-reduction units of Korean high-speed trains consist of a motor reduction unit, an axle gear box reduction unit, and a tripod joint shaft. A reduction gear unit is a gearbox used to reduce the rotational speed of the input shaft to a slower rotational speed on the output shaft. This reduction in output speed helps to increase torque. Defective reduction gear units in high-speed trains are caused by damage to the gear or by gear fatigue. To diagnose potential problems, it is important to know the vibration characteristics of the reduction gear units. In this study, we analyzed the vibration characteristics of reduction gears under various conditions. The test setup included a full-scale test rig to evaluate reduction gear under both normal and extreme operating conditions.

Structural Analysis for Gear Column of Large Bore Diesel Engine (선박 추진용 대형 디젤엔진 기어컬럼의 구조해석)

  • Lee, Jong-Hwan;Nam, Dae-Ho;Son, Jung-Ho;Bae, Jong-Gug
    • Proceedings of the KSME Conference
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    • 2008.11a
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    • pp.448-452
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    • 2008
  • 2-stroke marine diesel engine has generally one exhaust valve and three fuel injection nozzle which are key component for engine's performance and combustion. Fuel injection and exhaust valve driving system are driven by rotating of camshaft. Rotation of crank shaft drives the cam shaft through gear train that is composed of $3{\sim}4$ gear wheels. Gear column supporting the gear wheel has to bear against the dynamics forces by engine running as well as gearing forces. In this paper, structural analysis for engine structure and fatigue strength assessment of welded joint is shown. Repeatedly full cyclic simulation during one cycle is performed to investigate the structural behavior of engine. Fatigue analysis is carried out based on IIW using submodeling technique to obtain more detailed stress distribution.

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Fatigue Characteristics on Welded Joint of Gear Box-Shank in Vibro Ripper for Rock Crash (암반 파쇄용 진동리퍼 기어박스-생크 용접부의 피로특성)

  • Oh, K.K.;Kim, Jaehoon;Kim, Y.W.;Park, J.Y.;Yang, G.S.;Park, J.W.;Kim, S.H.
    • Journal of the Korean Society of Safety
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    • v.29 no.6
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    • pp.28-33
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    • 2014
  • Vibro ripper worked by high frequency vibration is developed to do rock fragmentation and work of ripper is the different concept with other existing breakers. The gear box-shank welded joint of vibro ripper is very important part to deliver vibromotive force to tooth, so this part should endure high frequency vibration environments. The purposes of this study are to choose the optimal welding conditions for fatigue strength. The conditions were made using three kind of shank materials and two kind of filler metals. Shank materials are Hadox-hituf, Posten80 and AR400, and filler metals are CSF-71T and CSF-81T. The fatigue test was conducted each condition. Fracture surface was observed to estimate fracture characteristics of welded joint using SEM.

Vibration Characteristics of the Electric Car due to Joint Discontinuity (철로 이음매에 기인하는 전동차의 진동특성 분석)

  • 임병덕;최연선
    • Proceedings of the KSR Conference
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    • 1998.05a
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    • pp.287-290
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    • 1998
  • Wheel impact due to the joint discontinuity is a major source of uncomfortable vibration in the railway vehicles. Since the impact signal is measured using sensors attached to the bogie and its energy content is small compared to the other vibrations from the machineries such as motors and gear systems, the seperation of the impact signal is generally difficult. In this study a technique using an evolutionary spectrum is proposed in order to estimate the impact signal due to the rail joint discontinuity.

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Development of Humanoid Joint Module for Safe Human-Robot Interaction (인간과의 안전한 상호 작용을 고려한 휴머노이드 조인트 모듈 개발)

  • Oh, Yeon Taek
    • The Journal of Korea Robotics Society
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    • v.9 no.4
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    • pp.264-271
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    • 2014
  • In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots.

Development of CV Joint Outer Race Ball Groove Measurement System (등속조인트 Ball Groove 측정시스템 개발에 관한 연구)

  • Park K. S.;Kim B. J.;Jang J. H.;Moon Y. H.
    • Proceedings of the Korean Society for Technology of Plasticity Conference
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    • 2005.10a
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    • pp.160-163
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    • 2005
  • The cute. race of CV(constant velocity) Joint is an important load-supporting automotive part, which transmits torque between the transmission gear box and driving wheel. The outer race is difficult to forge because its shape is very complicated and the required dimensional tolerances are very small. The forged CV Joint investigated in this study has six inner ball grooves requiring high operational accuracy. Therefore, the precise measurement of forged CV Joint is very important to guarantee the sound operation without noise and abnormal wear. In this study, unique in-situ measuring system designed specifically to measure the dimensional accuracy of six inner ball grooves of CV joint has been developed and implemented in shop environments. Newly developed system shows high measurement accuracy with simple operational sequence.

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