복합 다단 기어장치 메커니즘의 생성 및 초기설계

정태형(Tae-Hyong Chong),김장수(Jang-Soo Kim),박승현(Seung-Hyun Park) 한국생산제조학회 2005 한국생산제조학회지 Vol.14 No.4

In recent years, the need for multi-stage gear drives which highly reduce output speed has been increased. However, the design of multi-stage gear drives has been carried out by a limited number of experts. The consideration for the direction of input and output axes also makes their design very difficult. The purpose of this study is to develop an algorithm for automatically generating complex multi-stage gear drives and to implement a design supporting system for multi-stage gear drives. There are 4 stages in the proposed algorithm, and major design parameters, such as the direction of input and output axes, reduction ratio, etc. are set up in the first stage. In the second stage, all mechanisms are generated, and various rules are applied to select feasible mechanisms. In the third stage, the gear ratio of each stage is divided from total gear ratio. Next, the specifications of gears for feasible mechanisms are calculated and their bending strength and surface durability are estimated. In the forth stage, appraised indexes are calculated and provided to support the estimation of the generated gear drives.

복합 다단 기어장치 메커니즘의 생성 및 초기설계

정태형,김장수,박승현 한국공작기계학회 2003 한국공작기계학회 추계학술대회논문집 Vol.2003 No.-

In recent years, the need for multi-stage gear drives, which highly reduce output speed, has been increased. However, the design of multi-stage gear drives have been carried out by a limited number of experts. The- consideration for the direction of input and output axes also makes their design very difficult. The purpose of this study is to develop an algorithm for automatically generating complex multi-stage gear drives and to implement a design supporting system for multi-stage gear drives. There are 4 stages in the proposed algorithm, and major design parameters, such as the direction of input and output axes, reduction ratio, etc. are set up in the first stage. In the second stage, all mechanisms are generated, and various rules are applied to select feasible mechanisms. In the third stage, the gear ratio of each stage is divided from total gear ratio. Next, the specifications of gears for feasible mechanisms are calculated and their bending strength and surface durability are estimated. In the forth stage, appraised indexes are calculated and provided to support the estimation of the generated gear drives.

전기기계식제동장치용 감속기일체형모터의 최적설계방법 및 성능평가

백승구(Seung-Koo Baek),신지환(Ji-Hwan Shin),최성훈(Sung-Hoon Choi),김석원(Seog-Won Kim) 한국산학기술학회 2021 한국산학기술학회논문지 Vol.22 No.12

고속철도차량에 장착되는 전기기계식 제동장치(EMB : Electro-Mechanical Brake, 이하 EMB)는 약 50 ~ 60 kN 수준의 제동압부력을 필요로 한다. 모터가 사용되는 EMB 구동부는 고토크 출력을 위해 높은 감속비를 필요로 하며 대차 설치로 인한 공간적인 제약 때문에 소형화 설계 및 운행 중 차량하부로부터 발생하는 진동으로 인한 내구성을 가져야 한다. 따라서, 감속기일체형모터(GM : Geared Motor, 이하 GM)의 설계 및 제작기술은 철도차량용 EMB 구동부의 신뢰성 향상을 위해 필요한 기술이다. 본 논문은 GM를 위한 모터 최적설계기법 및 감속기 구조를 다루었다. 모터는 매입형 영구자석 동기전동기(IPMSM : Interior Permanent Magnet Synchronous Motor, 이하 IPMSM)를 적용하였으며 최적설계기법으로 Plackett-Burmann(PB, 이하 PB)의 민감도 분석을 통한 반응표면분석법(RSM : Response Surface Methodology, 이하 RSM)을 적용하여 최적화설계를 수행하였다. 감속기는 유성기어와 베벨기어의 조합을 통한 동심형 축직각 감속기 형태를 통해 안전측(fail safety) 동작 기능을 갖도록 제안하였다. IPMSM의 최적화 설계를 통하여 초기 설계결과 대비 출력토크는 12% 상승하였으며, 모터축과 감속기의 동심축 연결을 통하여 부피는 25% 감소, 중량은 50% 감소하는 결과를 보였다. GM는 EMB에 설치하여 기본성능시험을 통한 가용성을 평가하였다. An Electro-Mechanical Brake (EMB) mounted on the bogie of a high-speed train (HST) requires about 50 ~ 60 kN clamping force for braking. The EMB driving unit using a motor needs a high reduction gear for high torque output. In addition, the EMB driving unit must be compact owing to the space constraints and need to withstand the vibrations generated from under the vehicle while it is operating. Therefore, the design and manufacture of a geared motor (GM) for improving the reliability of the EMB driving unit for HST are necessary. This paper deals with the motor optimal design method and reduction gear structure of the GM. As part of the design, an Interior Permanent Magnet Synchronous Motor (IPMSM) is used, and the optimization design was performed by applying Response Surface Methodology (RSM) using the Plackett-Burmann (PB) sensitivity analysis. The reduction gear is proposed to have a safety function through the concentric shaft perpendicular reducer using the combination of planetary and bevel gears. Through the optimized design of IPMSM, the output torque increased by 12% compared to the initial design. Simultaneously, the volume and weight had decreased by 25% and 50%, respectively, through the integrated connection of the motor shaft to the reducer. Finally, the GM was installed in EMB, and its availability was evaluated through a basic performance test.

Compound motion characteristics analysis of eccentric herringbone curve-face gear pair

Chao Lin,Gui Ran,Yanan Hu 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.12

To simplify compound gear transmission, this paper proposed a novel compound motion mechanism with an eccentric herringbone curve-face gear-pair, which combines a rotation motion and a linear motion to simplify complex mechanical transmissions. A compound transmission model of the pair was established based on the motion principle of the constant-diameter cam. Then we analyzed the impacts of variable eccentric distances on the axial displacement and axial forces of the non-circular herringbone gear. By utilizing SolidWorks and automatic dynamic analysis of mechanical systems, ADAMS, a simulation model for simulating the compound motion of the gear pair, was provided. Experiments were carried out by dividing the gear pair into two eccentric helical curve-face gear with opposite hands. The results implied that maximum axial displacement deviations from the experiment and simulation model are 1.8 % and 5.7 %, compared to the theoretical value, which verified the accuracy of the theoretical analysis.

착륙장치 내추락 장치 설계개발시험

신정우(Jeong Woo Shin),김태욱(Tae-Uk Kim),황인희(In-Hee Hwang),조정준(Jeong Jun Jo),이정선(Jeong-Sun Lee),박총영(Chong-Yeong Park) 대한기계학회 2010 大韓機械學會論文集A Vol.34 No.1

비상착륙상황에서 승객의 안전을 향상시키기 위한 내추락 설계는 회전익기 설계 개발에 있어 필수적이다. 특히, 추락 시 착륙장치는 상대적으로 많은 에너지를 흡수할 수 있기 때문에, 내추락 설계에 있어 중요한 역할을 한다. 군사규격에서는 착륙장치의 에너지 흡수능력 뿐만 아니라, 파손 후 동체를 뚫고 들어가 승객에게 2차 피해를 주지 않아야 함을 규정하고 있다. 이와 같은 군사규격을 만족하기 위해서는 파손장치와 같은 내추락 장치를 마련하여, 착륙장치가 파손 후 안전하게 붕괴되어 동체를 뚫고 들어가지 않도록 해야 한다. 본 연구에서는 회전익기 착륙장치에 필수적인 파손장치의 설계 및 설계개발시험을 수행하였다. 먼저 착륙장치가 동체를 뚫고 들어가지 않도록 하기 위한 붕괴 과정을 결정하였다. 다음으로 파손장치에서 가장 중요한 부품인 파손 핀을 설계하였고, 설계기준을 만족하도록 2가지 강도 범위로 설계되었다. 최종적으로 설계개발시험을 통해 파손장치 설계를 성공적으로 검증하였다. To improve occupants' safety in an emergency, crashworthy design is necessary to rotorcraft design and development. Especially, landing gear has the important role for crashworthy design because landing gear absorbs relatively large energy for the crash landing. In addition, military specifications require failure of landing gear shall not increase danger to any occupants by penetration of the airframe. To meet the specification requirements, crashworthiness device like failure mechanism should be prepared so that landing gear is collapsed safely and doesn't penetrate the airframe. In this study, design and design development test of the failure mechanism which is necessary for the rotorcraft landing gear was performed. First, collapse scenario was determined for the landing gear not to penetrate the airframe. Then, the failure pin which is the most important part of the failure mechanism was designed with 2 strength range in order to meet design criteria. Finally, design of the failure mechanism was verified successfully by design development test.

착륙장치 내추락 정치 설계개발시험

신정우(Jeong Woo Shin),김태욱(Tae-Uk Kim),황인희(In-Hee Hwang),조정준(Jeong Jun Jo),이정선(Jeong-Sun Lee),박총영(Chong-Yeong Park) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.5

To improve occupants' safety in an emergency, crashworthy design is necessary to rotorcraft design and development. To improve crashworthiness capability, most of the crash energy should be absorbed by rotorcraft and the energy transmitted to the occupants should be minimized. To absorb the crash energy efficiently, the individual energy attenuation provided by landing gear, structure, fuel tank and seats should be considered totally. Especially, landing gear has the important role for crashworthy design because landing gear absorbs relatively large energy for the crash landing. In addition, military specifications require failure of landing gear shall not increase danger to any occupants by penetration of the airframe. To meet the specification requirements, crashworthiness device like failure mechanism should be prepared so that landing gear is collapsed safely and doesn't penetrate the airframe. In this study, design and design development test of failure mechanism which is necessary for the rotorcraft landing gear was performed and the results were presented.

Development of Stress Regression Model and Fatigue Model for Dual Tandem Gear Aircraft Considering Environmental Loads

Jin-seok SEO,Chan-hee LEE,Cha-sang Shim,Sang-jik LEE,Jin-hoon JEONG 한국도로학회 2018 한국도로학회 학술대회 발표논문 초록집 Vol.2018 No.05

Conventional airport concrete pavement design uses empirical design method presented by FAA but it is not accurate because it does not consider environment load. In case of mechanistic - empirical design method used overseas, it needs to be modified according to domestic conditions. In this paper, a stress regression model considering environmental load and dual tandem gear load is developed as a mechanical - empirical design process and verified by fatigue model calibration. First of all, literature review was conducted on airports using DT gear as a design aircraft among domestic airports, and the physical properties of concrete pavement layers of each airport were identified. In addition, the environmental load is divided into the temperature load and the moisture load, and the temperature load is calculated from the climatic data of the region where the domestic airport is located, and the moisture load is calculated through the drying shrinkage prediction model developed through the previous study. The stresses occurring in concrete slabs under environmental loads and traffic loads were predicted using FEAFAA, which is a finite element analysis program, and factors predicted to affect concrete pavement were selected for the stress regression.As a result of the sensitivity analysis of the selected factors, the joint spacing, slab thickness, gear load, and road bearing capacity coefficient affected the stress behavior of the slab by more than 5% of the reference stress.According to the mechanical design, the finite element analysis was carried out for the consideration of only the traffic load and the environmental load and the traffic load based on the design factors. Based on the analysis results, multiple regression analysis was performed using the statistical analysis program SPSS and the stress regression equation was calculated. Then, the stress model for the environmental load and the traffic load was calculated and the final stress model with each stress model as the independent variable was derived. Using the calculated stress regression model, the stress was calculated and the bending strength of the concrete was divided to calculate the stress - to - strength ratio, and the appropriate fatigue model was selected and the correction was performed by the least squares method. This study was supported by Incheon International Airport Corporation(BEX00625)

최적화에 기반한 분산 구동 메커니즘의 생체 모방 가변 기어링

김종호,장인권 대한기계학회 2022 大韓機械學會論文集A Vol.46 No.8

Achieving both high speed and great force is a classic but difficult problem in robotics. In this study, we propose bio-inspired variable gearing of the distributed actuation mechanism, and develop an optimization-based method for the simultaneous maximization of velocity and force. In order to quantify the continuously variable gearing, the structural gear ratio was mathematically derived. Then, the multi-objective optimization problem was formulated to determine the maximum velocity of the end effector according to the payload of the 3-DOF manipulator based on the distributed actuation mechanism for application in industrial environments. Further, comparative analysis was performed on the proposed method by constructing a 3-DOF manipulator based on the conventional joint actuation method. It was verified using the optimization framework consisting of a dynamics analysis module and an optimization module. The experimental validation revealed that bio-inspired variable gearing of the distributed actuation mechanism can significantly improve end-effector velocity and force for any given task. 빠른 속도와 큰 힘을 내기 위한 변속은 로봇공학에서 고전적이지만 어려운 문제이다. 본 연구에서는 분산 구동 메커니즘의 생체 모방 가변 기어링을 제안하고 최적화에 기반하여 속도와 힘을 동시에 최대화하는 방법을 제안한다. 연속적으로 변하는 기어링을 정량화하기 위해 구조적 기어비라는 개념이 수학적으로 도출되었다. 그런 다음 산업용 등으로 쓰일 수 있도록, 이 메커니즘에 기반한 3자유도 매니퓰레이터를 대상으로 가반하중에 따른 엔드 이펙터의 최대 속도를 결정하기 위해 다목적 최적화 문제가 정식화되었다. 그리고 제안된 방법과 비교분석을 위해 기존의 조인트 구동 방법에 기반한 3자유도 매니퓰레이터를 구성하였고, 동역학 해석 모듈과 최적화 모듈로 구성된 최적화 프레임워크를 통해 이를 검증하였다. 또한, 실험적 검증을 통해 분산 구동 메커니즘의 생체 모방 가변 기어링이 주어진 작업에 따라 엔드 이펙터 속도와 힘을 크게 향상시킬 수 있음을 보였다.

Mechanical and Empirical Parameter Design on a Multi-wound Differential Pulley Winch for a Wall-Climbing Robot

유성근,주인호,Jooyoung Hong,김종원,김화수,Tae Won Seo 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.5

This paper proposes a novel multi-wound diff erential pulley winch (MWDPW) component for assisting the ascending/descending operations of a wall climbing robot. The robotic platform enabling rope access in dangerous environments (ROPERIDE) climbs vertical walls using a rope and embedded winch. The original winch installed on the ROPE RIDE was a singlewound winch, which had problems such as rope slip, velocity ripple during descending motion, resulting the bad cleaningperformance and unstable motion on the wall. These problems are mainly due to the concentration of traction force on therope because a small portion of the winch pulley holds the entire weight of the robot. Therefore, we have developed a newwinch, MWDPW, by using multi-wound diff erential traction pulley and pressure rollers to solve the traction force concentrationproblem by distributing the traction force along the entire wrapping angle. Compared to other multi-wound winches, theMWDPW has the special feature of a diff erential gear and pressure roller to distribute the traction force and minimize therope slip. The tension of the MWDPW is analyzed using the basic capstan equation, and empirical results to minimize therope slip are presented by varying design parameters such as the winding method and presence of the pressure rollers. Weexpect the proposed mechanism to improve the safety of a wall-climbing robot for wall-cleaning operations.

인체장기 수술용 자동봉합기의 구동부 설계에 관한 연구

김현규(H. G. Kim),김진성(J. S. Kim),장현남(H. N. Jang),안지훈(J. H. Ahn),변태민(T. M. Byun),양경선(K. S. Yang),고철웅(C. W. Ko) 한국정밀공학회 2017 한국정밀공학회 학술발표대회 논문집 Vol.2017 No.5월