• Journal of Institute of Control, Robotics and Systems
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• v.20 no.7
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• pp.713-717
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• 2014

In this paper, the travel control of the spherical wheeled robot with a mecanum wheel is impelemented. Four typical wheels or three omni wheels are used to consist of the ball-bot. the slip is occured when the typical wheels is used to the ball-bot. In order to reduce these slip, the spherical wheeled robot with macanum wheels is proposed. Through some experiments, we find that the proposed spherical wheeled robot with a mecanum wheel is superior to the conventional spherical wheeled robot with typical wheels.

• Structural Engineering and Mechanics
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• v.85 no.6
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• pp.809-823
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• 2023

In this work, dynamic stability analysis of the ball after contacting with the earth in the volleyball game is presented. Via spherical shell coordinate, the governing equations and general boundary conditions of the ball after contacting with the earth in the volleyball game is studied. Via Comsol multi-physics simulation, some results are presented and a verification between the outcomes is studied. Harmonic differential quadrature method (HDQM) is utilized to solve the dynamic equations with the aid of boundary nodes of the current spherical shell structure. Finally, the results demonstrated that thickness, mass of the ball and internal pressure of the ball alters the frequency response of the structure. One important results of this study is influence of the internal pressure. Higher internal pressure causes lower frequency and hence reduces the stability of the ball.

• Particle and aerosol research
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• v.11 no.1
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• pp.9-19
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• 2015

This study investigated the effects of ball mill operation condition on the morphology of raw powders in the dry-type milling process using three types of ball mills traditional ball mill, stirred ball mill and planetary ball mill. Furthermore, since spherical powders offer the best combination of high hardness and high density, the optimum milling condition to produce sphere-shaped powders was studied. The applied rotation speed ranged from 200rpm (low rotation speed) to 700rpm (high rotation speed). The used ball size ranged from 1mm to 5mm. The metal powder morphology was studied using SEM, XRD and PSA. The aimed spherical powders could be obtained under the optimum experimental conditions: traditional ball mill(200rpm, 1mm ball), planetary ball mill (500rpm, 1mm ball) and also planetary ball mill (700rpm, 1 and 3 mm ball). The results show to the development of new material using spherical type copper powder/CNT composites for air-craft and automotive applications.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.336-342
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• 1994

This paper presents an useful technique for assessing the volumetric error in multi_axis machine tools using the kinematic double ball bar and 3 dimensional spherical contouring. The developed system proposes the 3 dimensional spherical contour for the error analysis. The developed system input the measured radial data, analysing the volumetric errors such as positional, strightness, angle, and squareness errors, etc. The developed system has been tested in a practical machine tool, and showed high

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.132-136
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• 2002

Optical collimating lenses are play a role as maintenance parallel light and as a kind of optical collimating lens, there is Ball lenses, GRIN-rod lenses, spherical lenses and aspherical lenses etc. but recently GRIN lens has monopolized a market. The performance of optical collimator depended on the coupling efficiency. In this paper, we were compared and analyzed to be measured values of coupling efficiency with respect to optical working distance using GRIN rod lenses and spherical lenses. In the case of GRIN lenses with a beam size of 420 ${\mu}{\textrm}{m}$, the minimum coupling efficiency was obtained to a measured value of 0.15 ㏈ and in the case of spherical lenses was obtained to a measured value of 0.12 ㏈ on the same condition. In results, we found that a performance of spherical lenses be better as compared with a that of GRIN lens.

• Aerospace Engineering and Technology
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• v.11 no.2
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• pp.158-163
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• 2012

Spherical Flying Machine, unlike conventional aircraft structure, is protected by circular frame. This battery-operated propeller machine, which can do vertical take-off and hovering, is under development for indoor and outdoor operation and dubbed as Flying Ball in KARI. In the future, autonomous air vehicle will be constructed for reconnaissance and surveillance application.

• Transactions of the Korean hydrogen and new energy society
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• v.11 no.3
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• pp.107-117
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• 2000

Ball poppet valve type high pressure hydrogen injection valve actuated by solenoid has been developed for the feasibility of practical use of hydrogen fueled engine with direct injection and the precise control of fuel injection ratio in hydrogen fueled engine with dual injection. The gas-tightness of ball poppet injection valve is improved by the introduction of ball-shaped valve face, valve end typed spherical pair, and valve stem with rotating blade. Ball poppet valve is mainly closed by differential pressure due to the area difference between valve fillet and pressure piston. So, it can be operated by solenoid actuator with small driving force. From the evaluation of ball poppet injection valve, it was found that the gastightness and controlment of this injection valve are better than those of injection valve had been developed before.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.1113-1116
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• 2001

Recently, the needs of non-symmetric spherical lens are increasing. Machining non-symmetric spherical lens by general method is limited. This paper researches grinding machine method for non-symmetric spherical lens and accruable problems at processing lens using CAD/CAM. In addition, this paper researches the relation of curvatures to grinding wheel sizes.

• International Journal of Precision Engineering and Manufacturing
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• v.1 no.1
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• pp.111-117
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• 2000

One of the major limitations of productivity and quality in metal cutting is the machining accuracy of machine tools. The machining accuracy is affected by geometric errors, thermally-induced errors, and the deterioration of the machine tools. Geometric and thermal errors of machine tools should be measured and compensated to manufacture high quality products. In metal cutting, the machining accuracy is more affected by thermal errors than by geometric errors. This paper models the thermal errors for error analysis and develops an on-the-machine measurement system by which the volumetric errors are measured and compensated. The thermal error is modeled by means of angularity errors of a column and thermal drift error of the spindle unit which are measured by the touch probe unit with a star type styluses and a designed spherical ball artifact (SBA). Experiments show that the developed system provides a high measuring accuracy, with repeatability of $\pm$2$\mu\textrm{m}$ in X, Y and Z directions. It is believed that the developed measurement system can be also applied to the machine tools with CNC controller. In addition, machining accuracy and product quality can be also improved by using the developed measurement system when the spherical ball artifact is mounted on a modular fixture.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.120-128
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• 2000

One of the major limitations of productivity and quality in metal cutting is the machining accuracy of machine tools. The machining accuracy is affected by geometric errors, thermally-induced errors, and the deterioration of the machine tools. Geometric and thermal errors of machine tools should be measured and compensated to manufacture high quality products. In metal cutting, the machining accuracy is more affected by thermal errors than by geometric errors. This paper models of the thermal errors for error analysis and develops on-the-machine measurement system by which the volumetric error are measured and compensated. The thermal error is modeled by means of angularity errors of a column and thermal drift error of the spindle unit which are measured by the touch probe unit with a star type styluses and a designed spherical ball artifact (SBA). Experiments, performed with the developed measurement system, show that the system provides a high measuring accuracy, with repeatability of $\pm$2${\mu}{\textrm}{m}$ in X, Y and Z directions. It is believed that the developed measurement system can be also applied to the machine tools with CNC controller. In addition, machining accuracy and product quality can be improved by using the developed measurement system when the spherical ball artifact is mounted on the modular fixture.