• Journal of Institute of Control, Robotics and Systems
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• v.8 no.3
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• pp.226-232
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• 2002

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.103-108
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• 2007

This paper presents a friction model to realize self-excited vibration of multi-body systems. The friction coefficient is modeled with a spline function in most commercial codes. Even if such a function resolves the problem of discontinuity in friction force, it cannot realize self-excited vibration phenomena. Furthermore, as the relative velocity approaches zero, the friction coefficient approaches zero with the conventional model. So, slip occurs when small force is applied to the system. To avoid these problems a new friction model is proposed in this study. With the new friction model, the self-excited vibration can be realized since the friction coefficient changes with the relative velocity. Furthermore, the slip phenomena could be reduced significantly with the proposed model.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.6 s.123
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• pp.524-530
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• 2007

This paper presents a friction model to realize self-excited vibration of multi-body systems. The friction coefficient is modeled with a spline function in most commercial codes. Even if such a function resolves the problem of discontinuity in friction force, it cannot realize self-excited vibration phenomena. Furthermore, as the relative velocity approaches zero, the friction coefficient approaches zero with the conventional model. So, slip occurs when small force is applied to the system. To avoid these problems a new friction model is proposed in this study. With the new friction model, the self-excited vibration can be realized since the friction coefficient changes with the relative velocity. Furthermore, the slip phenomena could be reduced significantly with the proposed model.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.11a
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• pp.230-236
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• 2008

In this paper, a model-based stick-slip compensation for the micro-positioning is proposed using an enhanced stick-slip model based on statistical rough surface contact model. The smart structure is comprised with PZT (lead (Pb) zirconia (Zr) Titanate (Ti)) based stack actuator incorporating with the PID (Proportional-Integral-Derivative) control algorithm, mechanical displacement amplifier and positioning devices. For the stick-slip compensation, the elastic-plastic static friction model is used considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of system for the positioning apparatus was derived from the dynamic behaviors of structural parts. PID feedback control algorithms with the developed stick-slip model as well as feedforward friction compensator are formulated for achieving the accurate positioning performance. Experimental results are provided to show the performances of friction control using the developed positioning apparatus.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.11
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• pp.1134-1142
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• 2008

In this paper, a model-based stick-slip compensation for the micro-positioning is proposed using an enhanced stick-slip model based on statistical rough surface contact model. The smart structure is comprised with PZT(lead (Pb) zirconia(Zr) Titanate(Ti)) based stack actuator incorporating with the PID(proportional-integral-derivative) control algorithm, mechanical displacement amplifier and positioning devices. For the stick-slip compensation, the elastic-plastic static friction model is used considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of system for the positioning apparatus was derived from the dynamic behaviors of structural parts. PID feedback control algorithms with the developed stick-slip model as well as feedforward friction compensator are formulated for achieving the accurate positioning performance. Experimental results are provided to show the performances of friction control using the developed positioning apparatus.

• Journal of the Korean Geotechnical Society
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• v.21 no.1
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• pp.93-103
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• 2005

Both static pile load test with load transfer measuring system and the pile dynamic load test are performed to estimate the skin friction and behavior characteristics of a large drilled shaft. And the numerical modeling of large drilled shaft is performed by applying the FDM program. Since the magnitude of friction resistance depends on the relative displacement between soil and shaft, load and displacement at the arbitrary depth along the large drilled shaft are estimated to analyze the correlation. According to the measuring results of load transfer, unit skin friction along the large drilled shaft was fully mobilized at gravel layer in the middle of shaft and the frictional resistance transmitted to bedrock was relatively small. Also, even for the same drilled shaft, the results of PDA and static load test are different with each other and the difference is discussed.

• Proceedings of the Korean Geotechical Society Conference
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• 2004.03b
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• pp.100-109
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• 2004

Is this study, results of static pile load tests of in-situ cast piles in weak or uncemented sedimentary rock layers have been analyzed and presented. Consdierations on the characteristics of soils sedimentary rocks have been made. From the measurements of strain gauges and extensometers the relationship of unit skim friction versus displacement and that of unit end bearing versus displacement have been obatined to verity the characteristics of bearing capacity of this uncemented sedimentary rock layers. Also, a comparison has been made between ultimate skin friction in compression and tension.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.6
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• pp.685-691
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• 2011

The Bearing preload units are used for stable rotational movements of high speed spindles. The feeding mechanism of the preload unit is important to prevent overheat of bearings and to keep constant bearing load under thermal deformation of spindle unit. In this study, ball slide guide and ball bush as feeding mechanism of preload unit are selected. The maximum static friction force, radial stiffness and damping ratio of ball slide guide with ball load, ball number and ball size are widely investigated. In conclusion, the surface of ball slide guide must be heat treated to reduce static friction force. The number and size of ball are increased to control sensitive bearing preload force.

• Journal of the Korean Society for Railway
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• v.10 no.4
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• pp.431-437
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• 2007

This paper describes the dynamic modeling of a railway vehicle when it is under braking force. It is important for the enhancement of braking performance to establish a proper dynamic model of a railway vehicle because the braking performance is affected by some dynamic forces generated by a railway vehicle when it undergoes braking. In this paper, a dynamic model for one vehicle is suggested to compute the dynamic behavior of a railway vehicle in the HILS(Hardware In-the-loop Simulation) system for the railway vehicle braking devices. To simplify the dynamic model, friction between a wheel and a rail is assumed that there exist only the static and the dynamic friction forces. Static friction coefficient is also assumed to be a function of the running speed. Some simulations are carried out with various braking forces, and the braking characteristics according to the change of the braking force are discussed. This study can provide some fundamental results to construct the HILS system for braking devices of a railway vehicle.

• International Journal of Highway Engineering
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• v.16 no.1
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• pp.21-30
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• 2014

PURPOSES : Evaluation of input parameters determination procedure for dynamic analysis of aggregates in DEM. METHODS : In this research, the aggregate slump test and angularity test were performed as fundamental laboratory tests to determine input parameters of spherical particles in DEM. The heights spreads, weights of the simple tests were measured and used to calibrate rolling and static friction coefficients of particles. RESULTS : The DEM simulations with calibrated parameters showed good agreement with the laboratory test results for given dynamic condition. CONCLUSIONS : It is concluded that the employed calibration method can be applicable to determine rolling friction coefficient of DEM simulation for given dynamic conditions. However, further research is necessary to connect the result to the behavior of aggregate in packing and mixing process and to refine static friction coefficient.