넓은 힘 반영 영역을 갖는 햅틱 장치를 위한 하이브리드 작동법

남윤주(Yun-Joo Nam),문영진(Young-Jin Moon),박명관(Myeong-Kwan Park) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11

This paper deals with the improvement of the transparency of a 1-DOF hybrid haptic device with the wide-ranged torque reflection. The hybrid haptic device presented in this study consists of an MR brake and a DC motor, thereby exerting the reflective torque by the combined outputs from two actuators. The MR brake, which has the passivity property for the safety in interaction and the stability in control, is used as the main source for the reflective torque of the haptic device. On the other hand, the DC motor, which is active in nature, is used just for compensating the back-driven torques in the haptic system or providing additional torques for obtaining the output larger than the capacity of the MR brake. Therefore, the proposed hybrid concept makes possible for the haptic device to display the wide-ranged torque reflection as well as the improved transparency, with still large workspace.

관성제동장치의 안전성 평가방법에 관한 연구

민경찬(Kyongchan Min),최인성(Inseong Choi),김성섭(Sungsub Kim),조성우(Seongwoo Cho),김규현(Kuhyun Kim) 한국자동차공학회 2012 한국자동차공학회 부문종합 학술대회 Vol.2012 No.5

The inertia (overrun) braking system of a trailer comprises the control device, the transmission and the wheel brakes. The Inertia braking systems convert the trailer’s inertia force to braking force in their wheel brake. The Inertia braking systems are widely used for small trailers because of the mechanism is relatively simple. But, safety evaluation method and test procedure are not well defined. In this study, along with analysing international harmonization regulations(UNECE Regulation 13) and the result of the study will be reflected on the KMVSS in future.

마그네틱 파우더 브레이크를 이용한 소형 진자형 충격시험기 개발

유인동(You In-Dong),이만석(Lee Man-Suk),김호경(Kim Ho-Kyung) 한국트라이볼로지학회 2011 한국윤활학회지(윤활학회지) Vol.27 No.3

A miniature pendular type impact testing machine was designed and developed, adopting a magnetic powder brake in order to investigate tensile and shear behavior of a small solder ball at high speed. In this testing system, the potential energy of the pendulum is transferred into the impact energy during its drop. Then, the impact energy is transmitted through the striker which is connected to the push rods to push the specimen for tensile loading. The tensile behavior of lead-free solder ball in diameter of 760 ㎛ was successfully investigated in a speed range of 0.15 m/s~1.25 m/s using this designed device. The maximum tensile strength of the solder joint decreases with the loading speed in the testing condition. The maximum tensile strength of the joint was 56 ㎫ in the low speed region.

Thermo-mechanical strong coupling analysis on braking device of pipe belt conveyor

Yao Wang,Shujun Li,Wenjun Meng 대한기계학회 2018 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.32 No.3

In this study, the formula to calculate the impact factor of coupling (ξ) was proposed, considering the thermo-mechanical coupling problem of friction pairs for braking device during braking. First, a correlation between independent physical field parameters was provided by analyzing the interaction parameters of stress and temperature field. Next, the thermal analysis and thermo-mechanical strong coupling analysis were completed for friction pairs using heat transfer module and structural mechanics module of COMSOL multiphysics software on the basis of the actual operating situation of a pipe belt conveyor. The distribution and variation characteristics of the temperature and stress fields were studied with comparative analysis for braking friction pairs during braking. The mathematical expression on the impact factor of coupling (ξ) depending on braking time (t) was established. Finally, the model with thermo-mechanical strong coupling analysis was verified and compared with the thermal analysis model in terms of the measured surface temperature during braking. Simulation results revealed that the impact factor of coupling (ξ) decreased with braking time (t). However, the change rate of function initially decreased and then increased with time. An inflection point existed at t = 1.5396 s in the function ξ of t. In comparison with the small fluctuation of the simulations with thermal analysis model, the simulations with thermo-mechanical strong coupling analysis model were in good agreement with the trend of experimental results, and all the maximum relative errors were less than 4 %. Thus, the simulation with thermo-mechanical strong coupling analysis was more reliable than thermal analysis. This work could provide valuable insights in solving complex multiphysics coupling analysis.

회전 마찰형 제진장치의 이력특성에 대한 실험적 연구

박진영,한상환,문기훈,이강석,김형준 한국지진공학회 2013 한국지진공학회논문집 Vol.17 No.5

Friction energy dissipative devices have been increasingly implemented as structural seismic damage protecting systems due to their excellent seismic energy dissipating capacity and high stiffness. This study develops rotational friction energy dissipative devices and verifies experimentally their cyclic response. Based on the understanding of the differences between the traditional linear-motion friction behavior and the rotational friction behavior, the configuration of the frictional surface was determined by investigating the characteristics of the micro-friction behavior. The friction surface suggested in this paper consists of brake-lining pads and stainless steel sheets and is normally stressed by high-strength bolts. Based upon these frictional characteristics of the selected interface, the rotational friction energy dissipative devices were developed. Bolt torque-bearing force tests, rotational friction tests of the suggested friction interfaces were carried out to identify their frictional behavior. Test results show that the bearing force is almost linearly proportional to the applied bolt torque and presents stable cyclic response regardless of the experimental parameters selected this testing program. Finally, cyclic tests of the rotational friction energy dissipative devices were performed to find out their structural characteristics and to confirm their stable cyclic response. The developed friction energy dissipative devices present very stable cyclic response and meet the requirements for displacement-dependent energy dissipative devices prescribed in ASCE/SEI 7-10.

Design of the Brake Device Using the Axial Crushing of Truncated Cone Type Cylinder

Jichul KIM,Woo Jeon SHIM 한국트라이볼로지학회 2002 한국트라이볼로지학회 학술대회 Vol.2002 No.10

A brake device lor the high-speed impacting object is designed using an axial crushing of thin-walled metal cylinder. Thickness of the cylinder is increased smoothly from the impacting end to the fixed end, resulting in the truncated cone shape. Truncated cone shape ensures that plastic hinges are formed sequentially from impacting end. This increases the reliability of brake device working. Computational and real experiments were performed to verity the effects of conical angle. Results indicate that undesirable sudden rise of crushing load can be prevented by applying appropriate conical angle.

A Study on a 1-DOF Hybrid Haptic Device with Wide Ranged-reflective Force

Young Jin Moon(문영진),Yun Joo Nam(남윤주),Myeong Kwan Park(박명관) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6

This paper presents a study on a 1-DOF (degree of freedom) haptic device using a motor and an MR (magneto-rheological) brake as a concept of hybrid. While existing hybrid haptic devices proposed in prior literatures make their active actuator and passive or semi-active actuator play separated roles respectively, the haptic device proposed in this study can exert reflective forces, combining two forces by an active and a semiactive actuators using pertinent distribution. The aim of this haptic device is to implement wider rangedtorque under wider ranged-workspace. We define four modes, which are free motion, minute torque, normal torque and extended torque mode, in order to pertinently distribute reflective torques from an MR brake and a motor. According to these modes, an MR brake exerts its reflective torque and a motor was used to compensate frictional components of the system such as a back-driven torque or aid additional torque to overcome the limit of maximum torque which an MR brake naturally has. The effectiveness of the proposed haptic device was demonstrated by three experiments.

Sliding Mode Control for Wheel Slide Protection in Railway Vehicles with Pneumatic Brake Systems

이남진,강철구 한국정밀공학회 2017 International Journal of Precision Engineering and Vol.18 No.3

Railway vehicles are the most commonly used means of public transportation systems, and therefore, it is essential to ensure their safe operation. To ensure reliable brake performance even on impaired tracks, a wheel slide protection device (WSP) is fitted to the brake system to prevent the wheels from locking and thus reduce excessive sliding. In this study, a sliding mode control (SMC) algorithm for a pneumatic brake system is proposed. The proposed algorithm basically conforms to SMC theory and the sampling time is divided into three sections, namely, the command section, response section, and monitoring section. The SMC determines the duty time for the WSP valve command, operates on a limited command section, and then waits for the brake state to stabilize through the response section. The benefits of this control strategy are that it can use a simplified mathematical model of a pneumatic valve on the model-based SMC and modify the continuous command type for the WSP valve instead of a discrete mode command. The proposed algorithm was verified through experiments with a brake hardware-in-the-loop simulation system for a railway vehicle.

국내외 기술기준 및 규격분석을 통한 제동작용장치 적합성 검증 방안 연구

구자경(Jakyung Koo),박진규(Jinkyu Park),강지성(Jisung Kang),민경빈(Kyeongbin Min),김상헌(Sanghun Kim) 한국철도학회 2017 한국철도학회 학술발표대회논문집 Vol.2017 No.05

최근 국내 철도산업은 안전에 대한 관심이 높아지면서 철도차량 및 부품 안정성 확보, 유지보수성 향상, 부품 국산화 및 표준화 등을 주요 쟁점사항으로 삼고 이와 관련된 연구 수행 및 인프라 구축에 힘을 쏟고 있다. 또한, 국내 강제인증인 철도안전법 과철도차량 및 용품 기술기준이 지속적으로 제·개정되면서 이에 관한 적합성 검증이 필수적으로 대두되고 있다. 본 연구에서는, 철도차량 제동에 필수적으로 사용되는 모듈 중 하나인 제동작용장치 제작을 위한 설계적합성, 제작합치성, 시험평가를 통한 적합성 검증을 수행함에 있어서 국내·외 법적 요구사항 적용 여부 및 제작에 관한 기술적 요구사항을 확인하고자 한다. In recent years, the domestic railway industry has focused on securing the stability of railway vehicles and components, improving maintenance and localizing and standardizing components as the interest in safety has increased. As the railway safety law, which is a domestic compulsory certification and railway vehicle and equipment technical standards have been constantly revised, it is essential to verify the compatibility with them. The purpose of this study is to validate domestic and overseas legal requirements application and technical requirements of break operating device which is one of the modules essentially used for railway vehicle braking in carrying out the conformity verification through design conformity, manufacturing conformity, and test evaluation.

Passive Two-Way Ratchet Brake Applicable to the Roll Axis of Weight Assist Device

Chanuk Jeon,Jae-Bok Song 제어로봇시스템학회 2023 제어로봇시스템학회 국제학술대회 논문집 Vol.2023 No.10