• 대한기계학회논문집A
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• 제37권11호
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• pp.1387-1395
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• 2013

차륜 불평형은 차륜의 무게중심이 윤축의 기하학적 중심축에서 벗어나 있을 때 발생한다. 차륜 불평형을 수정하지 않고 주행하면 불평형에 의한 원심력이 차체의 진동을 발생시키게 되며 차륜의 마모를 촉진시키거나 차축 베어링에 손상을 주게 된다. 본 연구에서는 철도차량 동적해석을 통하여 차륜 불평형이 차량 임계속도와 차체 진동에 미치는 영향을 검토하였다. 차륜 불평형은 임계속도를 감소시키고 차체 공진을 유발할 수 있음을 알 수 있었다. 또한 차륜의 정적, 동적 불평형에 따른 차체진동을 해석함으로써 불평형 수정은 양면 밸런싱이 필요함을 밝혔다.

• 로봇학회논문지
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• 제15권3호
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• 로봇학회논문지
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• 제18권3호
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• pp.299-307
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• 2023

In the midst of accelerating wars around the world, unmanned robot technology that can guarantee the safety of human life is emerging. ERP-42 is a modular platform that can be used according to the application. In the field of defense, it can be used for transporting supplies, reconnaissance and surveillance, and medical evacuation in conflict areas. Due to the nature of the military environment, atypical environments are predominant, and in such environments, the platform's path followability is an important part of mission performance. This paper focuses on reducing the minimum turning radius in terms of improving path followability. The minimum turning radius of the existing 2WS/2WD in-wheel platform was reduced by increasing the torque of the independent driving in-wheel motor on the rear wheel to generate oversteer. To determine the degree of oversteer, two GPS were attached to the center of the front and rear wheelbases and measured. A closed-loop speed control method was used to maintain a constant rotational speed of each wheel despite changes in load or torque.

• 한국철도학회논문집
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• 제7권2호
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• pp.130-136
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• 2004

The rolling-stocks on conventional line have suffered wheel problems due to the incompatibility between wheel and track condition. Especially, The 1:40 coned wheel profile's wear is very severe and these increase wheel maintenance cost. Thus we designed several arc-type wheel profiles coned 1:/20 to reduce the wheel flange wear and analyzed the dynamic performance of designed profiles. Tests carried out in service line to analyse the dynamic performance and verify the wear reduction for two cases of profiles. Test results shows the equal level of dynamic performance and the improvement of wheel flange wear compared with the conical wheel profile coned 1:40.

• 한국정밀공학회지
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• 제30권1호
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• pp.32-38
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• 2013

Small mobile robots which use round wheels are suitable for driving on a flat surface, but it cannot climb the obstacle whose height is greater than the radius of wheels. As an alternative, legged-wheels have been proposed by many researchers due to its better climbing performance. However, driving and climbing performances have a trade-off relationship so that their driving performance should be sacrificed. In this study, in order to achieve both driving and climbing performances, a new transformable wheel was developed. The developed transformable wheel can have a round shape on a flat surface and change its shape into legged-wheel when it makes a contact with an obstacle. For design of the transformable wheel, the performance of legged-wheel was analyzed with respect to the number and curvature of the leg, and then the new transformable wheel was designed based on the analysis. Contrary to the existing transformable wheels that contain additional actuators for the transformation, the developed transformable wheel can be unfolded without any additional actuator. In this study, in order to validate the transformable wheel, a simple robot platform was fabricated. Consequently, it climbed the obstacle whose height is 2.6 times greater than the wheel radius.

• 대한기계학회논문집A
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• 제30권3호
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• pp.295-301
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• 2006

The wheel slip control systems are able to control the braking force more accurately and can be adapted to different vehicles more easily than conventional ABS systems. In order to achieve the superior braking performance through the wheel-slip control, real-time information such as the tire braking force at each wheel is required. In addition, the optimal target slip values need to be determined depending on the braking objectives such as minimum braking distance, stability enhancement, etc. In this paper, a robust wheel slip controller is developed based on the adaptive sliding mode control method and an optimal target slip assignment algorithm. An adaptive law is formulated to estimate the longitudinal braking force in real-time. The wheel slip controller is designed using the Lyapunov stability theory and considering the error bounds in estimating the braking force and the brake disk-pad friction coefficient. The target slip assignment algorithm is developed for the maximum braking force and searches the optimal target slip value based on the estimated braking force. The performance of the proposed wheel-slip control system is verified In simulations and demonstrates the effectiveness of the wheel slip control in various road conditions.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2002년도 춘계학술대회 논문집
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• pp.411-416
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• 2002

The strength evaluation of a wheel is becoming very important due to the high speed of railway system and the reduction of wheel weight. Therefore, in this study, the influence of thermal stress at tread breaking in Korean High Speed Train wheel was investigated using FEM. During FEM analysis, the mechanical load or wheel-rail contract load and braking load were considered. When 300% of the block force was applied, the maximum von Mises stress of 61.0 ㎫ was found at the outside plate around 400mm far away from the wheel center.

• 한국소음진동공학회논문집
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• 제19권1호
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• pp.85-93
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• 2009

There are many curves in Seoul subway system. Therefore, the noise from subway system in curved line gives displeasure to passenger. The subway noise in curved line is affected not only by rail condition but also wheel condition and dynamic characteristics. The railway curving noise can be divided into 2 categories. The first is the noise due to stick-slip between wheel tread and rail head, and the second is one by wheel flange contact on rail side. Because of these phenomena - stick-slip and wheel flange contact - wheels are worn seriously. In this study the curving noise was reviewed by using eigen-mode of wheel and waterfall plot which shows noise level in time-frequency domain. And also those were reviewed in viewpoint of stick-slip noise and wheel flange contact noise. Finally, the relationship between curving noise and wheel wear was studied.

• International Journal of Automotive Technology
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• 제7권7호
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• pp.833-839
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• 2006

In this paper, roll behavior of three planar half car models are compared. The first model is a simple model whose contact point between a wheel and the ground is assumed to be fixed with a revolute joint. The second model is a modified model of the fIrst model, whose wheel tread width can vary. In this model, the instant center of a wheel with respect to the ground, which is crucial to find the roll center, is assumed to be at the contact point of a wheel and the ground. The last model uses the pole of a wheel with respect to the ground for small displacement as the instant center of a wheel with respect to the ground. Loci of the center of gravity point, the fixed and the moving centrodes which are traces of roll center position in the ground and the body frame respectively, wheel contact points, and instant centers of a wheel with respect to the ground are calculated.

• 한국생산제조학회지
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• 제8권1호
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• pp.150-157
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• 1999

In this study, the loader was completed that has 4-wheel gear driven drivetrain of study (Ⅰ), the 4-wheel steering with power wheel type, all-wheel traction system, and joy-stick type lever for hydraulic control valve. From driving test of the developed 4WD and 4WS type loader, we obtained that the minimum circling radius and the necessary width in circling motion reduced about 40% and 33% compared with 2WS type loader. Also, all-wheel traction system could keep the tires glued to the ground with greater stability, the power steering allowed a smoother operation, and the joy-stick type lever offered easily to control. Thus, the developed loader having these functions was very fit in a small cattle shed or rugged ground.