VEHICLE AND STEERING SYSTEM DYNAMICS IN THE CONTEXT OF ON-CENTRE HANDLING

K. T. R. VAN ENDE,F. KÜÇÜKAY,R. HENZE,F. K. KALLMEYER,J. HOFFMANN 한국자동차공학회 2015 International journal of automotive technology Vol.16 No.5

The interaction of the vehicle and steering system is important to evaluate the vehicle on-centre handling. To analyse the vehicle and steering system dynamics at small steering wheel angle inputs a methodological approach to validate a simulation model is developed in this paper. The presented model is focused on the description of the major on-centre handling phenomena and characteristics. For the validation of the model adjusted test manouevres and a certain procedure to achieve highly reproducible measurement data are described. Due to the collected measurement data it is possible to describe the vehicle on-centre behaviour and to validate the overall model in a phased manner and more exactly. The results show the importance of the steering system characteristics and its influence on the on-centre handling regarding small steering wheel angles at low frequencies. Next to the steering system friction and elasticity the influence of the vehicle and steering system hysteresis loop is presented.

모터를 이용한 차량용 캠버 조절장치

신상우(Sangwoo Shin),박근수(Geunsoo Park),성준규(Joonkyu Sung),이명석(Myungsuk Lee),한인환(Inhwan Han) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11

There are negative camber settings as a way to improve the vehicle"s cornering performance. Negative camber settings make the roll angle of the vehicle body offset and maintain ground and tires vertically. So, when a car is cornering, a tire can have the maximum area of the ground. In this case, traction is reduced and a severe one-sided wear is concentrated on the inner surface of the tire and ground-touching part. There is tilting mechanism as another way to improve the vehicle"s cornering performance. It is a way to offset the centrifugal force by making the vehicle body tilt inside the direction of rotation. In this case, we needed seperate special bodywork for realizing tilting mechanism. In this study, we will satisfy cornering performance improvement due to the camber angle, traction securement when driving straight and anti one-sided wear of the tire at the same time by applying the advantage of negative camber settings and tilting vehicles. Also, we will realize tilting mechanism without separate bodywork. While maintaining existing suspension method, a wheel hub and a motor are connected to a link and rotation of the motor makes wheel hubs tilt. By generating the operation of the motor and the steering of the vehicle at one time, the operation of the motor makes the steering of the vehicle become the negative camber when cornering and the zero camber when driving straight.

와이어 구동방식 원격조작기용 그리퍼의 반자동 파지 및 해제 동작을 위한 스프링 강성 분석

유승남(Seung Nam Yu),이종광(Jong Kwang Lee) 대한기계학회 2012 大韓機械學會論文集A Vol.36 No.11

위험지역에서의 작업을 위하여 전세계적으로 원격조작기가 널리 활용되고 있다. 특히 원격 시스템의 경우, 운영되는 환경의 특징상 안정적인 성능이 담보되어야만 하며, 조작기 몸체의 경량화 및 운용환경 외부에서의 유지보수 편리성을 위하여 구동부를 시스템의 기저부에 집중시킬 수 있는 장력구동방식 메커니즘이 주로 활용되고 있다. 본 연구에서는 장력구동 방식 원격조작기에 적용하기 위한 그리퍼 탄성 구동부의 설계를 위해 시도된 접근법을 소개하고자 한다. 제시된 그리퍼 시스템은 기본적으로 스프링 메커니즘에 기반을 둔 4 절 링크형 구조를 가지고 있으며 마스터 조작자에 의해 동작되는 슬레이브 조작기의 말단부에 결합되는 구조를 가진다. 본 논문에서는 이러한 조작기의 요구사항에 맞는 그리퍼의 파지력 및 복원력을 재현하기 위하여 그리퍼 상에서의 적정 스프링 결합위치 및 요구강성과 그에 따른 운동학적 영향계수 등을 분석 및 고찰하였다. 최종적으로는 이러한 분석내용들을 바탕으로, 실제 그리퍼 시스템에 적용함으로써 타당성을 검증하였다. Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon-driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon-driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified.

Synthesis of four-bar linkage motion generation using optimization algorithms

Phukaokaew, Wisanu,Sleesongsom, Suwin,Panagant, Natee,Bureerat, Sujin Techno-Press 2019 Advances in computational design Vol.4 No.3

Motion generation of a four-bar linkage is a type of mechanism synthesis that has a wide range of applications such as a pick-and-place operation in manufacturing. In this research, the use of meta-heuristics for motion generation of a four-bar linkage is demonstrated. Three problems of motion generation were posed as a constrained optimization probably using the weighted sum technique to handle two types of tracking errors. A simple penalty function technique was used to deal with design constraints while three meta-heuristics including differential evolution (DE), self-adaptive differential evolution (JADE) and teaching learning based optimization (TLBO) were employed to solve the problems. Comparative results and the effect of the constraint handling technique are illustrated and discussed.

Handling Gripper Using Multi Links Mechanism

Kyoung Taik Park,Han Me Kim,Doo Hyung Kim 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

This paper presents the device and method to drive handling gripper using multi links mechanism in stepwise. The driving mechanism is related with the driving control bar to be moved. Stepwise driving parts to have driving power are arranged on moving path of driving control bar and driven by releasing the constraint as the driving control bar is approached closely. If the approach of driving control bar is released it contains the driven part to be constraint. It has the characteristics that the several driven parts are driven in serial according to approaching of control bar. There is the step to relate the multi axes link device to be driven in serial and the driving part to be idle state on established path with the driving control bar. There is the step to check approaching of driving control bar to several driven parts on moving path of driving control bar. There is the step to drive the driven part after releasing the constraint of the driven parts when the driving control bar approaches to one of several driven parts. The stepwise driving method of multi links has the characteristics to contain the step to constraint the driven part when the driving control bar is released.

원격취급기구 및 인터페이스 메커니즘 개발

박병석(B. S. Park),이종광(J. K. Lee),유승남(S. N. Yu) 한국정밀공학회 2017 한국정밀공학회 학술발표대회 논문집 Vol.2017 No.12월

Robotic Platform for Automatic Alignment and Placement of Fabric Patterns for Smart Manufacturing in Garment Industry

Taehwan Kim,Yong-Lae Park 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.24 No.9

We propose a robotic platform that autonomously manipulates templates that hold fabric patterns during a pattern-forming process without human intervention. The platform performs key functions for preprocessing of pattern-forming such as opening, closing, placing, and aligning templates made of large and flexible plastic sheets, and is designed to seamlessly connect and operate with a commercial pattern-forming machine. The main contribution of the proposed system is the design of the centering mechanism, which adaptively aligns templates with different sizes placed on the stage. In this paper, we first describe the design of the proposed device and analyze its vibration characteristics to optimize the input parameters of the main actuator. We then characterize the component of the centering mechanism and test the alignment function of the device. Finally, We demonstrate the performance of our device by integrating it with a commercial pattern-forming machine for an automated sewing process. The device shows an operation time of nine seconds shorter than the duration needed by a trained human worker for the same task in the field. We believe the proposed system will be the first step towards realizing a smart garment factory in the apparel industry.

Dynamic analysis of a PDP exhaust hole processing equipment considering glass substrate interaction

국민구,김래겸,탁태오 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.4

Exhaust hole drilling is one of the PDP (Plasma Display Panel) manufacturing processes to make about 1mm diameter holes for sucking out air in order to generate vacuum between two PDP glass substrates. In the drilling process, bigsized glasses about the size of a queen size bed are loaded, aligned, drilled, and unloaded, during which the dynamic interactions between glass and the handling equipment are very significant. To analyze exhaust hole drilling equipment dynamics, interaction with glass substrates that have somewhat different material properties from general glasses should be considered. The Young’s modulus and Poisson ratios of the substrates have been determined experimentally and verified via computation that simulates a well-known three-point bending test. Dynamic interaction of the glass with the handling equipment is modeled using a flexible glass and rigid body handling equipment models. The velocity profile by which the glasses are driven and the material properties of the handling equipment components contacting with the glasses are evaluated in view of the structural integrity of the glass and the operational efficiency of the equipment. The dynamic model is demonstrated to be an effective design tool for an exhaust hole drilling machine.

스위치박스 제조공정 개선과 핸들링 장치 개발

김세환,이은종,김현호,유정봉 한국산학기술학회 2003 한국산학기술학회논문지 Vol.4 No.1

스위치 박스는 건축물의 전선관용으로 사용되는 금속제 박스이다. 이 박스를 제조할 때는 프레스 5~6대, 금형 5~6벌, 태핑머신 l대, 작업자 7~8명이 요구된다. 그래서 제조원가의 상승, 근로자의 작업기피 현상이 문제점이다. 이 문제점을 해 결하기 위하여 기존의 금형을 머디파이하고, 핸들링 장치를 개발함으로써 제조공정을 개선시키고자 하였다. 따라서 연구개발 결과 프레스 2대, 금형 2벌, 태핑머신 l대, 작업자 1명으로 단축시켜 생력화, 생인화, 원가절감, 수입대체 효과를 얻게 되었다. Switch box is metal box and used for electric wire pipe in building. In manufacturing switch box, we need 5~6 press machines, 5~6 dies, I tapping machine, and 7~8 operators. What matters is rise of manufacturing cost and operators’ reluctance of working. To solve this problem, we modified the pre-existing die and developed handling mechanism, which leads to improve the manufacturing process. After the research and development, we could reduce the number of machines and workers needed in the process; 2 press machines, 2 dies, I tapping machine, and I operator. That means we can save labor and the number of operators needed, reduce manufacturing cost, and get the effect of import replacement.

스위치 박스 4측면 가공용 캠금형 개발

김세환 한국산학기술학회 2003 한국산학기술학회논문지 Vol.4 No.3

스위치 박스는 건축물의 전선관용으로 사용되는 금속제 박스이다. 이 박스를 제조할 때는 제 1차 프레스에서 성형을 하고, 제 2차-5차 프레스로 박스의 4측면 가공을 하게 되므로 프레스 4대, 금형 4별, 작업자 4명을 필요로 한다. 이 때문에 기계 사용료와 금형비, 인건비 등 제조원가의 상승 요인이 되고 있으며 특히 프레스의 굉음과 진동 및 안전사고의 위험성 등으로 작업자들이 직무를 기피하고 있다. 이러한 현상을 해소하기 위하여 금형 4벌에 의한 가공을 1벌의 금형에 통합시킨 캠 금형 개발과 지동이송장치를 개발하였다. 그 결과, 프레스 1대와 금형 1별로 무인화 작업을 할 수 있게 되어 직무기피요인을 해소하게 되고 제조원가 절감효과를 얻게 되었다. A switch box is metal box for electric wire pipes in building. In manufacturing this box, the first press is used to mold and the second to fifth presses are used to process four-sides of a box. So four presses, four molds and four workers are needed. This leads to raise the manufacturing cost including machine lease rent, molding fee, and wages. To make matters worse, the roaring sound, vibration, and dangers of safety accidents make employees avoid from working that job. To solve this problem, a new Handling Mechanism and a cam die which combined four-dieinvolving processes into one die process were developed. That results in automation of the job with one press and one die. The job avoidance problem is solved and manufacturing cost is reduced as well.