• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.1
• /
• pp.47-52
• /
• 2013

In order to operate a search and rescue robot in hazardous area, the robot requires high mobility and adaptable locomotion for moving in unpredictable environments. In this paper, we propose the deformable soft wheel robot that can produce three kinds of driving modes; caterpillar driving mode, normal wheel driving mode, legged-wheel driving mode. The robot changes its driving mode as it faces the various obstacles such as a small gap, stairs etc. Soft film and composite materials are used for fabrication of deformable wheel structure and Shape Memory Alloy (SMA) coil spring actuators are attached on the structure as an artificial muscle. Film lamination and an composite manufacturing process is introduced and the robot design is required to be modified and compromised to applying the manufacturing process. The prototype is developed and tested for verifying feasibility of the deformable wheel locomotion.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.1
• /
• pp.80-85
• /
• 2011

This paper presents the design of the power-assisted controller for the in-wheel type smart wheelchair by using torque estimation that is predicted by relationship between input voltage and output wheel angular velocity. Nowadays, interest of the moving assistant aids is increased according to the increase in population of the elderly and the handicapped person. However some of the moving assistant aids have problems. For example, manual wheelchair has difficulty moving at the slope, because users lack the muscular strength of their arm. In electric wheelchair case, users should be weak by being decreased muscles of upper body. To overcome these problems, power-assisted electric wheelchair are proposed. Most of the power-assisted electric wheelchair have the special rims that can measure the user's power. In here, the rims have to be designed to install the sensors to measure user's power. In this paper, we don't design the rim to measure the man power. To predict the man power, we propose a control algorithm of the in-wheeled electric wheelchair by using torque estimation from the wheel. First, we measure the wheel velocity and voltage at the in-wheel electric wheelchair. And then we extract driving will forces by using proposed mathematical model. Also they are applied at the controller as the control input, we verify to be able to control in-wheel type smart wheelchair by using simulation.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.19 no.6
• /
• pp.61-66
• /
• 2020

For simple and repetitive transport tasks in limited spaces such as in factories, it is more efficient to use mobile robots instead of human workers. For this reason, the reliance on mobile robots is increasing due to the increased implementation of smart factories. Currently, the structural design of the Mecanum wheel is required to ensure the stability of the moving robot since it is used for the transport of not only small products but also large products. In this paper, to improve the stability and durability of the Mecanum wheel, ways to improve the structure of the Mecanum wheel are presented. Then, using the Castigliano theorem, the structural stability is reviewed through the deflection on existing and improved structures.

• Journal of Power System Engineering
• /
• v.21 no.2
• /
• pp.41-47
• /
• 2017

Boron steel (51B20) was cold forged using by new designed dies to apply for automotive aluminum wheel nut. The formability and mechanical properties of boron steel were compared with carbon steel(S45C) which has been used up to date for the wheel nut material. The formability was investigated on the dies designed with various types of punch nose using by FEM. The metal flow and compressive stress on the dies during cold forging were investigated and compared each other. The forging process with a new designed die showed the improved metal flow with a reduced forging load which resulted in the significant increase of the die life. It was recommended that the carbon steel for automotive wheel nut material could be substituted by the boron steel.

• Journal of Hydrogen and New Energy
• /
• v.20 no.1
• /
• pp.64-72
• /
• 2009

In order to convert efficiently vibration energy of a car tire wheel into electrical power by using piezoelectric materials, the design of the materials must be performed for the dynamic characteristics of the piezoelectric materials to be matched with them of the vibration energy sources well. An accelerometer was installed on the tire wheel with a slip ring to investigate the dynamic mode of the wheel as one of the vibration energy sources. During road test, the measurement on the vibration mode of the tire wheel was performed with variations of car speed and road condition. The experimental data were analyzed details for availability as a micro power source for wireless TPMS(Tire Pressure Monitoring System).

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2011.04a
• /
• pp.212-217
• /
• 2011

A scheduling technique for the improvement of yaw motion stability in in-wheel motor vehicle is proposed. Normally vehicle velocity is controlled via conventional PID method. When vehicle is encountered with different road conditions on left and right hand sides, unstable yaw motion is induced due to the driving force difference in both wheels. In this paper a scheduling formular for control gain is derived in terms of experimental results to generate proper counter control action. Simulation result reveals its effective performance in yaw control of in-wheel vehicle.

• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.23 no.4
• /
• pp.140-145
• /
• 2015

An on-board reaction wheel is payload of small satellite for space environment test. The reaction wheel is designed for considering physical, electrical, and environmental requirements. In this paper, we report design, manufacturing process and operation performance verification. Furthermore, the specifications of environmental test are performed under environmental conditions for guarantee of stability and reliability. The operation and environment test results are presented to meet the requirements at the reaction wheel flight model.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.21 no.1
• /
• pp.78-85
• /
• 2013

This paper presents the sliding mode control methods for anti-lock brake system (ABS) with the friction force observer. Using a simplified quarter car model, the sliding mode controller for ABS is designed to track the desired wheel slip ratio. Here, new method to find the desired wheel slip ratio which produces the maximum friction force between road and tire is suggested. The desired wheel slip ratio is varying according road and tire conditions to produce maximum friction force. In order to find optimum desired wheel slip ratio, the sliding mode observer for friction force is used. The proposed sliding mode controller with observer is evaluated in simulation, and the control design is shown to have high performance on roads with constant and varying adhesion coefficients.

• International Journal of Control, Automation, and Systems
• /
• v.2 no.4
• /
• pp.485-493
• /
• 2004

Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and also when wheel slip perpendicular to the axis of the wheel occurs. The second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, a method is implemented and tested using a potential field based navigation scheme. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.60 no.2
• /
• pp.309-314
• /
• 2011

Outer rotor type in-wheel switched reluctance motor for Welfare neighborhood electric vehicle is researched. In-wheel system is to drive the electric vehicle without mechanical transmission, shaft, differential gears or other mechanical system. To calculate drive power for each wheels, the elder's and disable's safety driving conditions are considered. The designed outer rotor SRM has a 6-stator and 8-rotor pole. The determined dimensions as well as the stator and rotor pole arc are simulated and tested with CAD and finite element analysis to verify the performance of the proposed motor.