• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.10
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• pp.1261-1267
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• 2013

In multibody mechanical systems, low-degree-of-freedom (DOF) joints such as revolute and translational joints are much more frequently used than high-DOF joints. In order to formulate kinematic constraint equations, especially for low-DOF joints, in an efficient and systematic manner, this paper presents a parametric generalized coordinate formulation as a new approach for describing constraint equations. In the proposed approach, joint constraint equations are formulated in terms of a mixed set of Cartesian and parametric generalized coordinates, which drastically reduces the complexity and computational cost of the partial derivatives of the constraints such as the constraint Jacobian. The proposed formulation is validated using a simple cylinder-crank system with an implicit integrator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.869-876
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• 2017

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the mechanical system and to design its components. This paper presents an algorithm that calculates actuating forces(or torques), depending on the various types of driving constraints, in order to produce a given system motion in the joint coordinate space. The joint coordinates are used as the generalized coordinates of a kinematic system. System equations of motion and constraint acceleration equations are transformed from the Cartesian coordinate space to the joint coordinate space using the velocity transformation method. A numerical example is carried out to verify the algorithm proposed.

• Computational Structural Engineering
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• v.5 no.4
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• pp.133-142
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• 1992

An analytical model was developed for predicting the pullout behavior of straight beam longitudinal bars anchored at exterior beam-column connections. The model incorporates a local bond constitutive simulation capable of considering the effects of anchored bar diameter, yield strength and the spacing, concrete compressive strength, and column pressure on the bond characteristics of deformed bars in confined conditions of exterior joints. The analytical techniques adopted in this study were shown to satisfactorily predict the results of pullout tests on straight bars embedded in confined concrete specimens. An evaluation of the ACI-ASCE Committee 352 development length requirements in exterior joint conditions was made using the developed analytical approach. The results of this analytical evaluation are indicative of the conservatism of the current development length requirements in the confined conditions of exterior joints.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.1
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• pp.223-235
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• 1993

VTR(Video Tape Recorder) has very complicated mechanisms composed of various cams, links, gears and so on. To satisfy kinematic requirements of VTR components, various geometric constraints between rigid bodies and a translational cam design program are developed. Mechanisms of VTR are divided into functional groups like a control part, a loading part and a tape guide part. Each group is modeled for kinematic and dynamic analysis. Finally, all groups are combined together for a complete VTR model and loads required for each function of VTR controls are studied. Detailed description of developed programs are presented and result are discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1561-1564
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• 2003

In the dynamic analysis model of full vehicles, the ball joint is usually modeled as an ideal joint. Searching a ball joint, the engineering plastic covers metal and the plastic has little compliance. It is expected that the compliance will physically have an influence on load transfer. This thesis presents a dynamic model considering the compliance of a ball joint, and studies an influence related to load transfer. It models the compliance of a ball joint to 3 directional spring. Likewise, it researches the load of a ball joint via a four-post simulation of a full vehicle, comparing with a model considered compliant and the model of an ideal joint. As a result, the difference between the compliance and the ideal joint model was determined. For this reasons, to conduct precision load prediction for durability analysis, dynamic analysis considering the compliance of bali joint should be required.

• Journal of Korean Tunnelling and Underground Space Association
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• v.25 no.1
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• pp.27-41
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• 2023

Submerged floating tunnels must be connected to the ground to connect continents. The displacement imbalance at the shore connection between the underground bored tunnel and submerged floating tunnel can cause stress concentration, accompanying a fracture at the shore connection. The elastic joint has been proposed as a method to relive the stress concentration, however, the effect of the elastic joints on the dynamic behavior should be evaluated. In this study, the submerged floating tunnel and shore connection under dynamic load conditions were simulated through numerical analysis using a numerical model verified through a small-scaled physical model test. The resonant frequency was considered as a dynamic behavioral characteristic of the tunnel under the impact load, and it was confirmed that the stiffness of the elastic joint and the resonant frequency exhibit a power function relationship. When the shore connection is designed with a soft joint, the resonant frequency of the tunnel is reduced, which not only increases the risk of resonance in the marine environment where a dynamic load of low frequency is applied, but also greatly increases the maximum velocity of tunnel when resonance occurs.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.7
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• pp.745-750
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• 2012

This study extends the constraint force design method allowing topology optimization for planar rigid-link and string mechanisms. To our best knowledge, by applying conventional machine and mechanism design theories, it is likely that it is possible to find out optimal locations of joints and lengths of rigid-links but somewhat difficult to find out optimal topology of rigid-links. To achieve optimal topology of rigid links, there is our previous contribution so called the new constraint force design method with the binary design variables determining the existence of the auxiliary forces imposing apparent lengths among unit masses. By adding new binary design variables, this research extends the constraint force design method to find out optimal mechanism consisting of stringy links as well as rigid links that seems impossible in the conventional machine and mechanism design theories.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.144-153
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• 1997

The determination of the direct kinematics of the parallel mechanism is a difficult problem but has to be solved for any practical use. This paper presents the efficient formulation of the direct kinematics for double parallel robot arm. The robot arm consists of two parallel mechanism, which generate positional and orientational motions, respectively. These motions are decoupled by a passive central axis which is composed of four revolute joints and one prismatic joint. For a set of given lengths of linear actuators, the direct kinematics will find the joint displacements of th central axis from geometric constraints in each parallel mechanism. Then the joint displacements will be converted into the position and the orientation of the end effector of the robot arm. The proposed formulation is decoupled and compacted so that it will be implemented as a real-time direct kinematics. With the proposed formulation, we analyze the motion of the double parallel robot and show its characteristics. Specially, we investigate the workspace in terms of positional space as well as orientational space.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.2
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• pp.185-191
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• 2001

In many papers, the powertrain system generally has been madeled as one-dimensional torque model. One-dimensional powertrain model may calculate the torque correctly but it does not consider the non-rotational degrees-of-freedom of the powertrain components and the interaction of these degrees-of-freedom with the vehicle body frame and suspension. To consider the non-rotational degrees of freedom, the differential is modeled as a three-dimensional rigid body in this paper. A constant velocity joint is newly formulated and a relative constraint is also formulated to model the motion transfer due to gear ratio of the differential. Implementing the proposed powertrain system in the multibody model, more detail dynamic responses can be obtained. Obtained outputs such as reaction torques on the constant velocity joint and reaction forces on the rack can be useful data in the design of a powertrain.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.3
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• pp.306-311
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• 2017

This paper deals with the design optimization of the kinematic characteristics of an automotive suspension system. The kinematic characteristics of the suspension determine the attitude of the wheels, such as the toe and camber, which not only relates to tire wear during driving, but also greatly affects the control of the vehicle and its stability, which corresponds to the motion performance of the vehicle. Therefore, it is very important to determine the characteristics of the suspension mechanism at the initial stage of the design. In this study, a displacement analysis is performed to determine the kinematic properties of the suspension for the McPherson strut suspension. For this purpose, a set of constraint equations for the joints constituting the suspension mechanism was established and a program was developed to solve them. We also used ADS, a design optimization program, to obtain the desired kinematic characteristics of the suspension. As the design variables for optimization, we used the coordinates of the hard points, which are the points of attachment of the suspension to the vehicle body, and are defined as the summation of the toe-in for the up and down movement of the wheel as the objective function. As the constraint functions, the maximum camber angle and minimum roll center height, which are design requirements, are considered. As a result of this study, it was possible to determine the optimal locations of the hard points that satisfy both constraint functions and minimize the change of the toe-in.