• Journal of Biosystems Engineering
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• v.30 no.2 s.109
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• pp.69-74
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• 2005

This study was carried out to investigate experimentally the effect of the ground condition and tire inflation pressure on rolling characteristics of towed wheel, including the deformation, sinkage, effective rolling radius and motion resistance of tire. The experiment was performed at soil bin for the three levels of off-road conditions(ground-I, ground-II and ground-III) and a on-road condition(ground-IV), and for the four levels of tire inflation pressure which were 80 kPa, 160 kPa, 240 kPa and 320 kPa. The results of this study are summarized as follows: 1. As the tire inflation pressure of towed wheel increased, the tire deformation decreased exponentially, but the tire sinkage increased exponentially. This trend was getting bigger as ground condition was getting softer. 2. The increase of tire inflation pressure increased the effective rolling radius of towed wheel, and this kind of trend occurred greatly as ground condition was soft. As a result, the effective rolling radius for the off-road condition was always larger than that for on-road condition. 3. For the on-road condition, as the tire inflation pressure of towed wheel increased, the motion resistance decreased, but for the off-road condition, augmentation of tire inflation pressure increased the motion resistance. Also, the effect of inflation pressure on motion resistance appeared great as ground condition was soft. Therefore, in order to improve the tire performance by the control of inflation pressure, it is desirable to reduce the tire inflation pressure for off-road condition and to increase the tire inflation pressure for on-road condition.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.867-872
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• 2007

A tracked robot has an excellent mobility on the rough terrain. Especially, a tracked robot for driving has to get structural function in the every field. In this paper, we propose a tracked robot of a small rear wheel typed. Also compared and estimated a driving analysis about the tracked robot in considered the general environment. Compared 2 models are different in size of rear wheels but front wheels are same size each other. From comparing model, the radius of front wheels is 100mm and the radius of rear wheels is 100mm. The radius of front wheels is 100mm and the radius of rear wheels is 70mm from proposed tracked robot. Depend on these radiuses of values we are known driving torque values of an actuating wheel using Recurdyn. And estimated stress of rotated track by an actuating wheel using Ansys. finally, the designed robot has size of $600mm\;{\times}\;330mm\;{\times}\;150mm$, weight is 27kg and the tracked robot is actuated by 2 geared DC motors.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.3
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• pp.110-115
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• 2005

Driving performance is affected by a steering mechanism and characteristics of the ground at off-road skateboarding. In order to drive on off-road, it is necessary off-road wheel and high performance steering mechanism to adapt on various configuration of the ground. In this paper, design factors are studied to affect to steering radius such as inclination angle of a king-bolt, distance of a wheel axle, and rolling angle of a deck plate. A steering system is adhered to inclination face of the deck plate. And, inclination angle is existed between the king-bolt and the flat face of the deck plate. Therefore, the wheel axle of the steering system can be steered by control of the rolling angle of the deck plate.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.932-936
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• 2016

In this paper, we present a method for the inspection of diamond wheels. In total, six items, including height, radius, and angle, need to be checked during the manufacturing of a diamond wheel. Automatic inspection through image processing is presented in this paper. First, a contour corresponding to the boundary of the diamond wheel is extracted from an image. Next, control points are selected by processing the contour. Seven control points are detected and used for the computation of the required item. Detailed procedures for the computation of the height, radius, and angle using control points are presented in this paper. Experimental results show the feasibility of the presented method.

• Proceedings of the KSR Conference
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• 2005.11a
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• pp.146-151
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• 2005

Main parameters of wheel-rail combination are investigated by profile analysis. A rolling radius difference is one of the main characteristics that describe a contact between wheelset and railway track, which in turn defines the dynamic behavior of a wheelset. This paper describes functional relation between lateral wheelset displacement and rolling radius difference or conicity on new/worn wheel of existing narrow gauge vehicle. Information about curving behavior and running stability are given by this both relations. The optimal wheel profile for railway vehicle with narrow gauge is adopted through this analysis. And, the applicable limit value of conicity which is used in order to do dynamic simulation of vehicle is presented.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.1
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.311-312
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• 2006

In this paper, steering systems for mobile robot with permanent magnet wheels are discussed. The mobile robot with permanent magnet wheels can have three different types of steering and driving configurations; two-wheels, three-wheels, four-wheels. By a Two-WD(Wheel Driving) system, driving and steering characteristics are controlled by ratio of each wheel speeds. Three-WD system is steered by a front wheel and driven by rear wheels. Four-WD system has better stability than two wheel system. Usually the permanent magnet wheel has nearly none slip. Thus turning radius of the mobile robot with three-WD and four-WD System will be increased and the steering and driving system will be complicated. To solve this problem, two magnet wheels with two dummy wheels are used in this study. fuming radius of the developed mobile robot is small and the structure of the robot is simple. It is possible to move forward, backward, to turn left and right, and to rotate freely with two-WD. This study proved that two-WD system is very suitable fur the mobile robot with permanent magnet wheels.

• Tribology and Lubricants
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• v.19 no.4
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• pp.187-194
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• 2003

This paper describes the characteristics of wheel wear of high speed train running on the conventional line. Conventional line has many curved tracks that cause severe wheel flange wear. The influences of lubrication, cant deficiency, curve radius on wheel wear are also described considering the operation performance of the highspeed trainset. A method of calculation using contact patch work model is presented for determination of the evolution by wear of railway wheels.

• Proceedings of the KSR Conference
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• 2000.05a
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• pp.135-142
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• 2000

This Paper describes a characteristics of wheel wear of high speed train running on the conventional line. Conventional line has many curved tracks that cause severe wheel flange wear. The influences of lubrication, cant deficiency, owe radius on wheel wear are also described considering the operation performance of the highspeed trainset. A method of calculation using contact patch work model is presented far determination of the evolution by wear of railway wheels.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.5
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• pp.96-102
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• 2004

In this study, we have developed the simulation tool in order to investigate driving trajectory of AGV for container transport. AGV for container transport is different from the indoor AGV in that it is a large size structure at being loaded the weight of 40 ton. and AGV for container transport is applied to front wheel steering, rear wheel steering, all wheel steering, and crap steering. Therefore, we have developed the simulation tool considering dynamic problems and a center of turning in accordance with fourth ways of steering mode. As the result of this study, we have confirmed that this tool is useful and cost-effective in the dynamic analysis or large size vehicles. Also, it is useful to calculate the minimum radius of turning for large size vehicles.