• Transactions of the KSME C: Technology and Education
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• v.3 no.2
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• pp.107-115
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• 2015

The analysis of multi-flexible-body dynamics (MFBD) has been an important issue in the area of the computational dynamics. This technique has been developed and improved in RecurDyn solver. This paper reviews the formulation which is applied in the RecurDyn solver. Basically, in order to solve the multi-flexible-body dynamics problem, an incremental finite element formulation using a corotational procedure is used. In particular, in order to solve the rigid and flexible bodies together, a constraint equation between a rigid body and a flexible body is applied, in which a virtual body and a flexible body joint are introduced.

• Journal of the Microelectronics and Packaging Society
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• v.13 no.1 s.38
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• pp.63-72
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• 2006

Mobile products, such as cellular phones, PDA and notebook, are subjected to many different mechanical loads, which include bending, twisting, impact shock and vibration. In this study, a cyclic bending test of the BGA package was performed to evaluate the fatigue life. Special bending tester, which was suitable for electronic package, was developed using an electromagnetic actuator. A nonlinear finite element model was used to simulate the mechanical bending deformation of solder joint in BGA packages. The fatigue life of lead-free (95.5Sn4.0Ag0.5Cu) solder joints was compared with that of lead-contained (63Sn37Pb). When the applied load to the specimen is small, the lead-free solder has longer fatigue life than lead-contained solder. The fatigue crack is initialized at the exterior solder joints and is propagated into the inner solder joints.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.10-18
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• 1998

불확실한 변수와 비선형성을 가지는 유연조인트 로봇의 견실제어 방안을 제시한다. 그리고 본 시스템에서 불확실구조는 일치성을 유지하지 않는 불일치성 불확실 시스템이다. 제어기는 리아노프의 방안에 근거를 두고있다. 견실제어는 연산토크법을 사용하고 삽입제어기법을 통하여 좌표변환을 통해 구성된다. 제어기 설계과정은 우선 연산토크방법에 의해 시스템 동역학에서 정격부분을 선형으로 2개의 부분시스템으로 구성한다. 이후 좌표변환을 이용하여 각 부분시스템에 제어기를 구축한다. 이 방안을 통하여 관성 행렬이 알려진 값인 경우 이 행렬의 상위한계 조건없이 제어기를 설계할 수 있다. 따라서 임의의 형태의 로봇에도 적용 가능한 제어알고리즘이 된다. 설계된 견실제어는 변환된 시스템이나 원시스템 모두 실용적 안정성을 보장한다. 이 변환은 단지 불확실변수의 최대 한계값의 정보만을 요구한다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.04a
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• pp.634-635
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• 2013

• Journal of Applied Reliability
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• v.5 no.3
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• pp.327-342
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• 2005

전자 패키지가 열을 받을 때 회로기판과 칩의 열팽창계수 차이에 의해 발생되는 응력은 솔더 조인트의 파손에 영향을 미친다. 본 연구에서는 이 영향을 정량적으로 규명하기 위하여 열충격시험기를 이용해 얻어진 솔더 조인트의 전기저항 변화와 수명과의 상관관계를 규명하였고, BGA솔더 조인트의 수명을 정량적으로 도출하였다. 또한 Sn-3.5Ag-0.5Cu 무연 솔더와 63Sn-37Pb 유연 솔더를 위의 실험에 동시에 적용시켜 건전성을 FORM(first-order reliability method)과 Weibull Function Model을 이용해 비교하였다.

• Proceedings of the Korean Reliability Society Conference
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• 2005.06a
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• pp.287-294
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• 2005

전자 패키지가 열을 받을 때 회로기판과 칩의 열팽창계수 차이에 의해 발생되는 응력은 솔더 조인트의 파손에 영향을 미친다. 본 연구에서는 이 영향을 정량적으로 규명하기 위하여 열충격시험기를 이용해 얻어진 솔더조인트의 전기저항 변화와 수명과의 상관관계를 규명하였고, BGA 솔더조인트의 수명을 정량적으로 도출하였다. 또한 Sn-3.5Ag-0.5Cu 무연솔더와 63Sn-37Pb 유연솔더를 위의 실험에 동시에 적용시켜 건전성을 FORM(first-order reliability method)과 Weibull Function Model을 이용해 비교하였다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.175-176
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• 2012

• Journal of the Korean Society for Precision Engineering
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• v.14 no.8
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• pp.108-114
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• 1997

A simple and efficient method is presented for the dynamics of interconnected flexible beams having large rigid body rotations. A simple mass matrix is obtained by interpolating the displacements in the global inertia frame, and the elastic force is also simply computed by using linear finite element technique with the moving frame attached to the beam. For the beams connected by revolute joints, kinematic constraints and relative rotations between the beans are not required and the equations of motions are time integrated by a simple ODE technique. Numerical simulations are conducted to demonstrate the accuracy and efficiency of the present technique.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.1
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• pp.183-193
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• 1994

The dynamic equation of a flexible robot manipulator is formulated by the assumed-mode method and the Lagrange equation. The controller is designed for a flexible robot manipulator including a joint actuator. The controller consists of a parmaeter estimator and the adaptive controller. A parameter estimator evaluates ARMA model`s parameter using RLS algorithm. An adaptive controller is designed based on a reference model and a minimum prediction error controller.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.247-252
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.