• 제목/요약/키워드: Gear Ratio

검색결과 324건 처리시간 0.03초

줄꼬임에 기반한 상지 외골격 로봇 (Twisted String-based Upper Limb Exoskeleton)

  • 이성준;유지환
    • 제어로봇시스템학회논문지
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    • 제22권11호
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    • pp.960-966
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    • 2016
  • This paper proposes a new concept of a soft and wearable upper-limb exoskeleton. A novel actuation principle, called the twisted string actuation principle, is implemented to make it lightweight, soft, and therefore easily wearable. Its power transmission mechanism and harness are designed to be soft and wearable, yet have enough control accuracy for rehabilitation. In addition to force transmission optimization, a speed enlargement mechanism is newly introduced in order to increase the contraction speed of the twisted string actuation mechanism by sacrificing the unnecessarily large gear reduction ratio of the twisted string mechanism. A prototype has been tested for mirroring therapy, and the feasibility of the proposed mechanism has been shown through a sufficiently accurate tracking performance.

2축 고하중 조작기의 힘반영 위치제어 (Force Reflecting Position Control for 2 Axes Heavy-Duty Power Manipulators)

  • 안성호;박병석;윤지섭;고윤세;이상정
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2000년도 하계학술대회 논문집 D
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    • pp.2910-2912
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    • 2000
  • Since the heavy-duty power manipulator has high ratio gear reducers at its joints, its dynamic characteristics are much slower than that of the master manipulator and it is likely to encounter the saturation in the input magnitude when it is used as the slave manipulator in telemanipulator systems. This paper proposes a force reflecting position control scheme for 2 axes heavy-duty power manipulator which compensates control input saturation. A series of experiments is shown to give an excellent tracking performance regardless of saturation.

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요각속도 추정을 위한 새로운 차량 모델의 개발 (A Development of New Vehicle Model for Yaw Rate Estimation)

  • 배상우;신무현;김대균;이장무;이재형;탁태오
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2001년도 춘계학술대회논문집B
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    • pp.565-570
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    • 2001
  • Vehicle dynamics control (VDC) system requires more information on driving conditions compared with ABS and/or TCS. In order to develop the VDC system, tire slip angles, vehicle side-slip angle, and vehicle lateral velocity as well as road friction coefficient are needed. Since there are not any cheap and reliable sensors, recent researches on parameter estimation have given rise to a number of parameter estimation techniques. This paper presents new vehicle model to estimate vehicle's yaw rate. This model is improved from the conventional 2 degrees of freedom vehicle model, so-called bicycle model, taking nonlinear effects into account. These nonlinear effects are: (i) tyre nonlinearity; (ii) lateral load transfer during cornering; (iii) variable gear ratio with respect to vehicle velocity. Estimation results are validated with the experimental results.

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무선조종 날개짓 비행체 '송골매' 개발 (Development of a Radio Controlled Ornithopter 'Songgolmae')

  • 장조원
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2004년도 춘계학술대회
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    • pp.1993-1998
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    • 2004
  • The present study was carried out to develop highly efficient RC ornithopter 'Songgolmae' powered by motor and battery. Designed electric ornithopter weighs 277 grams and has 3 channels radio control. 1t runs on an electric motor by a lithium polymer battery and has a gear ratio of about $75{\sim}95$ to 1 to flap its 88 cm wingspan. The aerodynamic performance of the ornithopter, applied to a flapping motion only, was validated by flight tests. Flight times have exceeded 23 minutes until the battery was used up. The flight test results indicate that the ornithopter developed here has sufficient thrust to propel itself in a forward flight. From the economical point of view and the handling of the RC ornithopter, it can be said that the developed robot ornithopter is an effective RC ornithopter. This radio controlled ornithopter flies its way high into the sky just like a real bird flies.

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4각 보행 로봇의 정적 걸음새 생성 (Static Gait Generation of Quadruped Walking Robot)

  • 김남웅;신효철;김국원
    • 한국공작기계학회논문집
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    • 제16권6호
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    • pp.217-222
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    • 2007
  • This paper describes a static gait generation process and a mechanical design process of leg mechanisms for quadruped robots. Actually robot walking is realized with the joint motion of leg mechanisms. In order to calculate the time-angle trajectories for each joint of leg mechanisms, we generate end-tip trajectories with time for each leg in the global inertial coordinate system intuitively, followed by coordinate transformations of the trajectories into the local coordinates system fixed in each leg, finally the angle-time trajectories of each joint of leg mechanisms are obtained with inverse kinematics. The stability of the gait generated in this paper was verified by a multi-body dynamic analysis using the commercial software $ADAMS^{(R)}$. Additionally the mechanical specifications such as gear reduction ratio, electrical specifications of motor and electrical power consumption during walking have been confirmed by the multi-body dynamic analysis. Finally we constructed a small quadruped robot and confirmed the gait.

자동변속기 오일 온도센서 출력 이상 진단 로직 개발 (Development of A/T Oil Temperature Sensor Plausibility Diagnostic Logic)

  • 권준의;최영선;심장선
    • 한국자동차공학회논문집
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    • 제13권6호
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    • pp.99-104
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    • 2005
  • The CARB in USA has demanded OBD functions that detect any deterioration of performance of OTS as well as a simple defect of OTS which can affect emission to meet the reinforced emission regulation. In this paper, OTS plausibility monitoring functions to meet the demand from CARB are discussed. The output from OTS is used for the diagnostics of the torque converter clutch stuck and the gear ratio synchronous error. It is possible to diagnose the abnormality of OTS function by considering the oil temperature characteristics which changes according to the driving status of vehicles. In result, the OBD regulations of the CARB can be satisfied obligating car manufacturer to detect any problems in OTS functions which can affect emissions.

수동휠체어의 변속 기능이 추진 동작에 미치는 영향 (Effects of Manual Wheelchairs' Transmission on the Propulsion Motion)

  • 신응수
    • 한국운동역학회지
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    • 제17권3호
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    • pp.225-232
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    • 2007
  • This work intends to investigate the effects of shift characteristics on the propulsion performance of a manual wheelchair with an automatic transmission. A planetary gear train is employed to generate a two-stage shift automatically, based on the distance traveled from rest. Motion analysis has been performed for measuring kinematic properties of the arm and then the inverse dynamics has been applied for estimating joint forces/torques. Then, a parametric study has been performed to find a set of the shift ratios and the shift intervals for optimizing propulsion performance. Results show that the propulsion performance is closely related to the shift condition. It is found that a short shift interval is desirable for a short distance propulsion. However, an optimum shift interval for a long distance propulsion is inversely proportional to the shift ratio approximately. Consequently, the automatic transmission can greatly lower the joint loadings by the speed reduction, which eventually contribute to prevent joint injuries of wheelchair users.

근해안강망어업경영의 원가실태에 관한 연구 (A study on the cost state of the stow net Fishery)

  • 박정호
    • 수산경영론집
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    • 제9권2호
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    • pp.59-89
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    • 1978
  • The analyzed results of the actual state of stow net fishery based on the cost expended are as follows. According to the calculation of interests, the total cost of this fishery comes to ₩38,010,653 and in this account, the production cost comes to ₩35,477,198(93.3%), the material cost, 14,567,239(38.3%), the labour cost, 12,740,274(33.5%), the expenses, ₩8,169,685(21.5%), the commision and administration expenses, 2,533,455(6.7%). The expenses for this fishery are paid out as production costs, and the expenses for sale and administration expenses are the lowest of them, and the 93% of expenses are paid out as production costs. The ratio of cost element to 100% is as follow. The wages, 28.4%, fuel, 15.2%, repair, 11.6%, deprecation, 9.5%, fishing gear, 8.7%, ice, 6.1%, container(box for fish), 5.2% administration expenses, 5.2%, food, 3.5%, ship grar, 3.2%, public welfare, 1.7%, commision for sale, 1.5%, insurance for crew, 0.2%, taxes, 0.2%. This fishery is managed with the larger fishing boat than it was and so, it demands better crews with higher wages. In the former fishery, the search for fishing ground is very difficult with long navigation and great fuel consumption. when the weak fishing gears are used, the expenses for their repair and for their gears are greatly paid out. The unit costs of catches to each box come to ₩2.807(₩187 each kg). As the ratio of cost of sales comes to 86.7%and the ratio of interests comes to ₩5,850,812(13.3%), and so the net profit comes to 13.3% of total profits. According to above the ratio of cost of sales is shown as a universal validity, Asthe total expenses comes to 86.7% to the money on sales in the break-even point, the break-even point comes to ₩26,209,168 Accordingly for the profit control the account of production should be raised, and by the saving method of expenditure the break-even point should be brought down for the development of total profits.

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중형저상버스 병렬형 하이브리드화를 위한 동력전달계 용량매칭 (Components sizing of powertrain for a Parallel Hybridization of the Mid-size Low-Floor Buses)

  • 김기수;박영일;노윤식;정재욱
    • 한국산학기술학회논문지
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    • 제17권8호
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    • pp.582-594
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    • 2016
  • 그 동안 하이브리드 버스에 대한 연구로 플러그인 하이브리드, 직렬형, 병렬형 하이브리드 등에 대한 연구가 많이 진행되어져 왔다. 하지만 연구가 진행된 대부분의 차량들은 대형 버스이며 현재 국내에는 중형저상버스에 대한 연구는 전무한 실정이다. 또한 중형저상버스의 하이브리드화에 대한 연구 역시 미미한 실정이다. 본 논문은 MATLAB을 이용한 시뮬레이션을 통해 디젤 중형저상버스의 연비 평가를 수행하였으며, 이를 하이브리드화하였을 경우에 대한 최적의 용량 조합과 기어비를 제시하고 내연기관 시뮬레이션 연비 결과와 비교 분석하였다. 하이브리드화를 위한 구조로 전륜과 후륜이 독립적으로 동력을 전달하는 병렬형 하이브리드 시스템을 선택하였다. 동력원 용량 설계를 위해 목표 성능을 만족하는 요구파워를 계산하여 적용 가능한 동력원 용량 영역을 설계하였다. 설계 영역을 만족하는 각 단품들의 용량은 스케일링하여 구성하였으며, 엔진과 모터에 대한 동력 전달계의 용량 설계 알고리즘을 제시하고 동적 계획법을 이용하여 최적화를 수행하였다. 최종적으로 본 연구를 통해 내연기관 차량인 중형저상버스를 하이브리드화하였을 경우에 대한 연비 향상률과 최적의 동력원 용량, 기어비를 제시하였다.

제주도 연안 정치망 조업시스템 개발에 관한 연구 - I. 모형어구에 의한 각망과 낙망의 어획성능 비교 - (Studies on the Development of the Fishing System of Set Net in the Coast of Jeju Island - I. Comparative of Fishing Efficiency of Rectangular Set Net and Pound Net by the Model Net -)

  • 김종범;김석종
    • 수산해양기술연구
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    • 제37권3호
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    • pp.223-231
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    • 2001
  • 제주도 연안 정치망의 어획성능을 향상시키기 위한 어구구조개량과 조업방식의 생력화에 대한 기초자료를 제공할 목적으로 현재 제주도 연안 정치망 어장에 부설하여 조업을 행하고 있는 각망어구와 낙망어구의 어획성능을 비교하기 위해서 이들 실물어구를 1/30로 축소하고 제작한 모형어구를 이용하여 수조실험을 실시하고 고등어어군, 전갱이 어군, 독가시치 어군의 입·출망 행동을 관찰하고 해석하였는데, 그 결과는 다음과 같다. 1. 어군의 입망율은 경과시간 60초일 때 각망어구에서는 고등어 50%, 전갱이 18%, 독가시치 28%였고, 낙망 어구에서는 고등어 70%, 전갱이 60%, 독가시치 30%였다. 2. 어군의 출망율은 경과시간 60초일 때 각망어구에서는 고등어 70%, 전갱이 40%, 독가시치 24%였고, 낙망어구에서는 고등어, 전갱이가 각각 0%, 독가시치가 3%였다. 3. 어군의 잔존율은 경과시간 60초일 때 각망어구 에서는 고등어 30%, 전갱이 60%, 독가시치 76%였고, 낙망어구에서는 고등어, 전갱이가 각각 100%, 독가시치가 97%였다.

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