• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.372-377
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• 2015

In this paper, the consideration factors that affect the actual driving of a rover wheel was examined based on the wheel-terrain model. For the evaluation of driving performance in a real environment, the test bed of the rover wheel consists of the driving part of the wheel and sensing part of the various parameters was designed and assembled. Using the test bed, the preliminary driving experiment concerning the slip ratio, sinkage, and friction force according to the rotational velocity and the shape of the wheel were carried out and evaluated. The wheel test bed and the experiment results are expected to contribute to finding the optimal result in the designing of the wheel shape and the planning of the driving conditions through further study.

• Journal of Korean Association for Spatial Structures
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• v.19 no.1
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• pp.109-116
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• 2019

In this paper, the shape adjustment algorithm of the spoked wheel cable structures with retractable membrane system is studied. The initial tension of the membrane or cable is necessary to form the structure and its value is determined by the design shape. However, due to internal and external environmental influences, its shape may be different from the initial designed shape. In the case of the cable structures covered in this study, tension adjustment is necessary to maintain the designed shape because it influences the tension of the cable depending on the state of the retractable membrane. Therefore, we proposed an adjustment algorithm of an initial shape based on the force method. The effectiveness and validity of the methodology were examined through the applicable cable structures. The results of the shape adjustment analysis of the symmetric spoked wheel cable model were reliable and accurate results were obtained.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.82-87
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• 2000

This paper deals with monitoring of grinding wheel wear in grinding process. A monitoring system is developed in which a laser scanning micrometer is used to measure the circumferential shape as well as the axial shape of grinding wheel. The monitoring system is applied to grinding machines. The experiment results show that the monitoring system is useful not only for monitoring the amount of wear in grinding wheel but also for measuring the apparent diameter of the grinding wheel.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.613-616
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• 2000

This paper deals with monitoring of grinding wheel wear in surface grinding process. A laser scanning micrometer is used to measure the circumferential shape as well as the axial shape of grinding wheel. The monitoring system is applied to two kinds of grinding methods: plunge and traverse grinding. Through experiments, it is found that measurement of grinding wheel wear reveals information of roughness of ground surface and the adequate dressing time. In addition, monitoring of grinding wheel wear makes it possible to identify abnormal grinding conditions.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.7
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• pp.1643-1653
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• 1994

To facilitate the manufacturing of dull using CNC grinding machine, the simulation of helical groove machining with given wheel profile and setting condition is necessary. Considering the wheel as a collection of thin disks, the flute configuration is predicted in a cross section perpendicular to the axis and the grinding wheel profile is also predicted to machine the desired helical groove with given setting conditions. Two programs for these processes are developed. Using programs interactively, the helical groove machining process can be predicted more accurately. By clarifying the geometrical relation between the shape of cutting edge and the flute configuration in the cross section which is perpendicular to drill axis, it becomes possible to predict the necessary cross sectional shape of wheel for desired drill cutting edge shape. Some factors for the software are considered concerning prediction of accuracy and computing time.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.185-195
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• 2000

This pacer studied on the lateral motion and yaw motion of the gantry crane which is used for the automated container terminal with two driving wheel types. Though several problems are occcurred in driving of gantry crane, they are solved by the motion by the operators. But, if the gantry crane is unmanned, it is automatically controlled without any operation. There are two types, cone and flat t y pin driving wheel shape. In cone type, lateral vibration and yaw motion of crane are issued. In flat type, the collision between wheel-flange and rail or the fitting between wheel-flanges and rail is issued. Especially, the collision between wheel-flange and rail is a very critical problem in driving of unmanned gantry crane. To bring a solution to the problems, the lateral and yaw dynamic equations of the driving mechanism of gantry crane with two driving wheel types are derived. Then, we investigate the driving characteristics of gantry crane. And this study used PD(Proportional-Derivative) Controller to control the lateral displacement and yaw angle of the gantry crane. The simulation result of the driving mechanism using the Runge-Kutta Method is presented in this paper.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.1
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• pp.36-42
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• 2013

Recently, the automobile of the future will be able to substitute an electric vehicle for an internal combustion engine, so the following research is actively in the process of advancing. A traction motor is one of the core parts which compose the electric vehicle. Especially, it is difficult to connect cooling water piping to an in-wheel motor because the in-wheel motor is located within the wheel structure. This structure has disadvantage for closed type and air cooling, so the cooling design of motor housing and internal in-wheel motor is important. In this study, thermo-flow analysis of the in-wheel motor for vehicles was performed in consideration of ram air effect. In order to improve cooling efficiency of the motor, we variously changed geometries of housing and internal shape. As a result, we found that the cooling efficiency was most excellent, in case the cooling groove direction was same with air flow direction and arranged densely. Furthermore, we investigated the cooling performance enhancement with respect to variable geometries of internal in-wheel motor.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.3
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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.

• Proceedings of the KSR Conference
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• 2004.10a
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• pp.228-233
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• 2004

A derailment coefficient of railway vehicle is as one of important element that estimate running safety. Derailment coefficient is ratio of lateral load/vertical load happens in contact point between wheel and rail. Lateral load increases, dangerous of derailment can rise. There are ground and vehicle to measurement method of these derailment coefficient. Method of ground is simple, but when vehicles passes data of a point, there is shortcoming that acquire locally. Curved surface style wheel shape that use so far among vehicle method in this research wishes to be not but describe about static load test of wheel-set for derailment coefficient measurement that have plane plate shape that manufacture separate way and correction result etc. to test.

• 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.