• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.5
• /
• pp.65-73
• /
• 2001

In this paper, a mobile system using multi-wheel steering and driving mechanism is proposed to maximize maneuverability of the wheeled mobile system. Among various possible configurations, the two-wheel steering and driving systems, which is minimal in structural requirement, is proposed to reduce the complexity in actual design and difficulties in control. The system possesses three or four degrees of freedom depending on the orientations of two wheels, one or two for driving and two for steering, which implies that the system's mobility is always less than three DOF. The proposed system, nonetheless, can exactly emulate characteristics of the omnidirectional motion as long as the planned path is smooth i.e., the curvature changes continuously while velocity is not zero. Efficient kinematic and dynamic control algorithms are proposed for position and orientation control of the proposed wheeled mobile system.

• Proceedings of the KSR Conference
• /
• 2008.06a
• /
• pp.2163-2172
• /
• 2008

The noise to be considered as the most important in railway systems is the noise generated from the wheel/rail interaction. Such noise can be divided into three categories; that is, the rolling noise, the squeal noise and the wheel howling noise. Especially in metro systems, this type of noise has been considered seriously in recent years, and the diversified studies on the mechanism and solutions of such noise are in progress by many railways and researching bodies. In this study, a specially designed wheel absorber is installed in the wheel, and FEM analysis and laboratory tests are executed for the two cases, i.e. with wheel absorber and without wheel absorber, to check the effect of the wheel absorber in noise reduction. For the FEM analysis, the frequency response functions for respective cases are compared. And, for the laboratory test, following four cases are tested and compared; that is, i) with wheel only, ii) installation of ring damper only, iii) installation of damping material and cover, iv) installation of complete absorber system.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.05a
• /
• pp.1067-1068
• /
• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2012.05a
• /
• pp.561-562
• /
• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.10a
• /
• pp.169-170
• /
• 2009

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.11a
• /
• pp.215-216
• /
• 2010

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1997.04a
• /
• pp.113-118
• /
• 1997

This paper presents the dimensional synthesis and kinematic analysis of the RSCS-SSP motion generating spatial mechanism using the displacement matrix method. This type of spatial mechanisms is used for the Mcpherson suspension in small automobiles. It is modeled for the wheel bump/rebound and steering motion. First, the suspension is modeled as a multiloop spatial rigid body guidance mechanism for the two major motions. Then the design equations for SSP, RS, and SC strut links are applied to synthesize an RSCS-SSP for up to three prescribed positions for the steering motiom from the suspension design specification. Thus a RSCS-SSP mechanism which is synthesized is also analyzed for the displacement during the steering motion.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.3
• /
• pp.233-239
• /
• 2013

This paper presents the analysis and control of the position of the COG (Center of Gravity) for a two-wheel balancing robot. The two-wheel balancing robot is required to maintain balance by driving two wheels only. Since the robot is not exactly symmetrical and its dynamics is changing with respect to moving parts, robust balancing control is difficult. Balancing performance becomes difficult when two arms hold a heavy object since the center of gravity is shifted out of the wheel axis. Novel design of a sliding waist mechanism allows the robot to react against the shift of the COG by moving the whole upper body to compensate for the imbalance of the mass as a counter balancer. To relocate the COG position accurately, the COG is analyzed by force data measured from two force sensors. Then the sliding COG mechanism is utilized to control the sliding waist position. Experimental studies are conducted to confirm the proposed design and method.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.30 no.12 s.255
• /
• pp.1634-1641
• /
• 2006

High-precision centerless grinding machines are emerging as a means of finishing the outer diameter grinding process required for ferrules, which are widely used as fiber optic connectors. In this study, a sensitivity analysis for structural and thermal characteristics was carried out using a virtual prototype of a centerless grinding machine to realize systematic design technology and performance improvements required to manufacture ferrules. The prototype consisted of a concrete-filled bed, hydrostatic grinding wheel (GW) and regulating wheel (RW) spindle systems, a hydrostatic RW table feed mechanism, a RW swivel mechanism, and on-machine GW and RW dressers. The results of the structural sensitivity analysis illustrated that the vertical stiffness of hydrostatic guideway for the RW table feed system greatly influenced the horizontal loop stiffness, and the results of the thermal sensitivity analysis illustrated that the heat generation rates at hydrostatic bearings and belt pulley greatly influenced the temperature rise of hydrostatic bearings and the deviation of thermal displacement between GW and RW.

• Journal of the Korean Society for Railway
• /
• v.11 no.2
• /
• pp.203-210
• /
• 2008

Since hub wheel BLDC Motor consisted of wheel and BLDCM (Brushless DC Motor) without gear reducer has high efficiency and low operation noise, it can be utilized to a driving wheel at some light rail systems. However, installing sensors for speedometer on a Hub-Wheel motor is not easy, so it requires a different speed control mechanism method for speed measurement. This paper introduces a speed control method based on simple mathematical model which uses discrete Kalman Filter to estimate and control the speed of the motor.