• 한국정밀공학회지
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• 제28권10호
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• pp.1181-1188
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• 2011

A control system for stabilizing a small robot or inverted pendulum using twisted gyro wheel is proposed. Conventional stabilizer using inertial wheel employs action-reaction force/torque to control a pendulum, which can generate relatively small torque and short period of output. In this paper, a novel actuation method using twisted gyro torque in 3-dimentional space was proposed to stabilizing a pendulum by twisting the assembly including a rotating gyro wheel. In addition, two special control functions for this type of twisted gyro wheel were designed. One is the function of self-adjusting the mass center of the robot and the other is the torque reloading configuration for continuous torque generation. The proposed system was verified by experimental result and simulation. The designed twisted gyro wheel control system can be easily packed in a small size module and installed in a humanoid robot or inverted pendulum type mechanism.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 1998년도 춘계학술대회 논문집
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• pp.507-513
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• 1998

In surface grinding, the conditions of the grinding wheel has much more significant effect on the machined workpiece as compared to other metal removal processes. The contact between the grinding wheel and the workpiece introduce heat and resistance, which restrict the self-dressing of the grits and result in burrs cracks on the workpiece. Therefore, before or during the grinding operation, it is necessary to self-dressing the grinding wheel for more accurate performance. In general, however, the choice of the dressing time has made by the operator's own decision or the condition of the workpiece. In this paper, a new method for finding the optimal dressing time of the grinding wheel is proposed. In order to develop a more sophisticated methodology, a non-contacting in-process optical measurement method using a laser beam has been introduced to find the glazing, loading, and spilling of the grinding wheel Simultaneously, a three-dimensional computer simulation of the grinding operation has been attempted based on the contact mechanism between the grinding wheel and the workpiece. The grains of the grinding wheel are simulated and the optimal dressing time is determined based on the amount of grain wear and work surface roughness.

• 한국생산제조학회지
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• 제7권1호
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• pp.112-118
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• 1998

In surface grinding, the contact between the grinding wheel and workpiece introduce heat and resistance, which restrict the self-dressing of the grits and result in burrs and cracks on the workpiece. Therefore, before or during the grinding operation, it is necessary to self-dress the grinding wheel for more accurate performance. In order to determine the dressing time monitoring method of grinding wheel in surface grinding, a three-dimensional computer simulation of the grinding operation has been attempted based on the contact mechanism and surface-shaping system between the grinding wheel and the workpiece. The optimal dressing time is determined based on the grain wear and work surface roughness.

• 한국정밀공학회지
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• 제17권3호
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• pp.174-183
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• 2000

Non-Parallelism the axial direction occurs during grinding process of long slender shafts. The reason for the axial error is due to elastic deformation of the components, accumulation phenomenon of the grinding and wheel wear during the grinding process. The accumulation phenomenon, the size generation mechanism and the wheel wear process during traverse grinding result in complicated process at each step on the wheel surface. The grinding system stiffness obtained from the stiffness of the center on the tailstock and the workpiece varing according to the relative position of the wheel and the workpiece. Further more, the value of wheel wear increases as the grinding process advances. The above mentioned issues make the shape generation process during traverse grinding quite complicated. This research analyzes the shape generation process in the direction of the work spindle. First, the formulation of the grinding system stiffness was conducted and the simulation analysis method of the traverse grinding was established. Also, a measuring system for assessing the dimensinal accuracy of the workpiece has been developed.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.961-964
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• 1997

In this paper, grinding characteristics of ultra high speed cylindrical plunge grinding was investigated by use of vitrified CBN wheel. From the experimental result, it was convinced that grinding power is decreased according to the increase of wheel and workpiece speed due to changing of grinding mechanism which decreases depth of cut and length of contact curve according to increment of wheel speed. And also, stock removal reduction of each gram lead to improvement of surface roughness by increasing the wheel speed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계 학술대회논문집(수송기계편)
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• pp.29-32
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• 2005

This paper presents experimental analysis of a friction-driven wheel that is responsible for wheel squeal. Squeal noise generating mechanism and environment of train u heels has been tried to reproduce under laboratory condition. Scale down size rail and wheel are made and influential parameters to squeal noise are measured, e. g. frictional force, pressure between rail and wheel, creep speed of rail. Negative damping characteristic curve are calculated currently. Necessary relating computational analysis is also carried on.

• 한국생산제조학회지
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• 제8권6호
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• pp.16-25
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• 1999

In recent years, grinding techniques for precision machining of brittle materials used in die, model and optical parts have been improved by using superfine abrasive wheel and precision grinding machine. The completion of optimum dressing of superfine abrasive wheel makes possible the effective precision grinding of die steel(STD-11). In this study, a new system and the grinding mechanism of optimum in-process electrolytic dressing were proposed. This method can carry out optimum in-process electrolytic dressing of superfine abrasive wheel. Therefore, the optimum in-process electrolytic dressing is a good method to obtain the efficiency and mirror-like grinding of STD-11.

• 한국군사과학기술학회지
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• 제12권5호
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• pp.676-682
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• 2009

The idler wheel installed at the front side of the newly developed tracked vehicle didn't meet the durability requirement by showing the crack failure near the jointed region at the wheel during the field test. To find the crack developing mechanism we constructed finite element model for the idler wheel representing the behavior of interface between each suspension units, material properties from the material test data and actual loading conditions. This paper shows a result that maximum von Mises stress near the bolt hole on the outer rim is higher than inner idler coressponding to the actual test result and that result was reversed by adopting the reinforcement outside of the outer rim.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.361-366
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• 2015

In this paper, we propose a novel surveillance throwing robot which is compact, light-weight and has an efficient shock absorption mechanism. The throwing robot is designed in a spherical shape to be easily grabbed by a hand for throwing. Also, a motor-wheel linking mechanism is designed to be robustly protected from shocks upon landing. The proposed robot has a weight of 2.2kg and the diameter of its wheels is 150 mm. Through the field experiments, the designed robot is validated to withstand higher than 13Ns of impulse.

• Journal of Mechanical Science and Technology
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• 제18권11호
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• pp.1941-1948
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• 2004

This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed. The effectiveness of the controller is verified by experiment for the real wheeled blimp system.