Browse > Article
http://dx.doi.org/10.3795/KSME-A.2013.37.9.1069

Comparative Study on DAE Solution Methods for Effective Multi-Body Dynamics Analysis of Unmanned Military Robot Based on Subsystem Synthesis Method  

Kim, Myoung Ho (Graduate school of Mechanical.Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.)
Kim, Sung-Soo (Dept. of Mechatronics Engineering, Chungnam Nat'l Univ.)
Yun, Hong-Seon (Graduate school of Mechanical.Mechanical Design.Mechatronics Engineering, Chungnam Nat'l Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.37, no.9, 2013 , pp. 1069-1075 More about this Journal
Abstract
An effective method is necessary for the real-time analysis of an unmanned military robot. To achieve highly efficient simulations, a subsystem synthesis method has been developed. The subsystem synthesis method separately generates equations of motion for the base body and for the subsystem. The equations of motion are expressed by DAE, which consist of differential equations and algebraic equations. To increase the accuracy and efficiency of solutions, DAE solvers such as the Direct, CS (Constraint Stabilization), and GCP (Generalized Coordinate Partitioning) method are employed. In this study, the subsystem synthesis method is applied for effective multi-body dynamics analysis of an unmanned military robot, and a comparative study of three different DAE solvers is carried out.
Keywords
DAE; Unmanned Military Robot; Multi-body Dynamics; Subsystem Synthesis Method;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Han, J. B., Jeong, W. H., Kim, S. S., 2010, "Subsystem Synthesis Method Based on Cartesian Coordinates for Unmanned Military Robot Multibody Dynamics," The Asian Conference on Multibody Dynamics.
2 Haug, E. J., 1989, Computer-Aided Kinematics and Dynamics of Mechanical Systems, Vol. 1, Allyn and Bacon.
3 Baumgarte, J., 1972, "Stabilization of Constraints and Integrals of Motion," Computer Methods in Appiled Mechanics and Engineering, Vol. 1, pp. 1-16.   DOI   ScienceOn
4 Wehage, R. A. and Haug, E. J., 1982, "Generalized Coordinate Partitioning for Dimension Reduction in Analysis of Constrained Dynamic System," Journal of Mechanical Design, Vol. 104, No.1, pp. 247-255.   DOI
5 Yoo, W. S., Cho, D. H., Lee, J. H. and Yi, K. C., 2010, "Maneuvering Speed of an Off-road Autonomous Vehicle," Proceedings of MOVIC.
6 Jeon, S. H., Lee. J. H. and Yoo. W. S., 2011, "Improvement of Maneuvering Stability of a 6x6 Vehicle using Control Schemes," Multibody dynamics.
7 Lee. J. H. and Yoo. W. S., 2011, "Velocity Decision for Unmanned Ground Vehicle Considering Road Roughness," Trans. Korean Soc. Mech. Eng. A, pp.973-975.
8 Kim, S. S., 2002, "A Subsystem Synthesis Method for Efficient Vehicle Multibody Dynamics," Multibody System Dynamics, Vol. 7, pp. 189-207.   DOI   ScienceOn
9 Kim, S. S., Jo. J. Y., Jeong, W. H. and Wang, J. H., 2011, "Multibody Vehicle Dynamics Analysis using an Explicit-Implicit Integrator with Subsystem Synthesis Method," Proceedings of the ASME.