• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.22 no.4
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• pp.730-734
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• 2013

The dynamic simulation of machine tools and motion control systems has been widely used for optimization, design verification, control design, etc. There are three main streams in dynamic simulation: structural dynamic analysis based onthe finite element method, dynamic motion analysis based on equations of motion, and control system analysis based on transfer functions. Generally, one of these dynamic simulation methods is chosen and employed for specific purposes. In this study, an integrated dynamic simulation is introduced, in which the structure, motion, and control dynamics are combined together. Commercially well-known software is used in the integrated dynamic simulation: ANSYS, ADAMS, and Matlab/Simulink. Using the integrated dynamic simulation, the dynamics of a magnetic bearing stage is analyzed and the causes of oscillation and noise are identified. A controller design for suppressing a flexible dynamic mode is carried out and verified through the integrated dynamic simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.359-363
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• 2004

Numerous studies have been performed to analyze various phenomena of human's walking, gait. In the present study, unrecognized walking and recognized walking were analyzed by three dimensional motion capture system(VICON motion system Ltd., England) and simulated by computer program. Two normal males participated in measuring the motion of unrecognized and recognized walking. Six infrared cameras and four force plates were used and sixteen reflective markers were attached to the subject to capture the motion. A musculoskeletal model was generated anatomically by using ADAMS(MSC software corp., USA) and LifeMOD(Biomechanics Research Group Inc, USA). The inverse dynamic simulation and forward dynamic simulation were also performed. The result of simulation was similar to the experimental result. This study provides the base line for dynamic simulation of the falling walking. It will be useful to simulate various another pathologic gaits for old peoples.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.749-753
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• 2007

The purpose of this study is to design of a linear feeder using a multi body dynamic program, and to analyze a dynamic motion of the feeder that can transport small mechanical parts uniformly. In order to establish the analysis model of the linear feeder, each parts of the feeder are divided into two types which the rigid and flexible body. For the dynamic simulation, RecurDyn, which is a commercial multi-body dynamic package, is used. We also consider the design parameters for optimal dynamic motion such as centroid, stiffness, and mass of the feeder system. In order to analyze the dynamic motion of a linear feeder, the displacements of the feeder are measured by several accelerometers when it is in an operating condition. After the signal data from the accelerometers are captured in the time domain, the dynamic motion in the space is visualized by using graphic computer software.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.917-918
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• 2012

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.5
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• pp.756-768
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• 1997

In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.

• Journal of the Ergonomics Society of Korea
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• v.18 no.3
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• pp.141-152
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• 1999

In this paper, We performed the human body dynamic modelling for the realistic animation based on the dynamical behavior of human body, and designed controller for the effective control of complicate human dynamic model. The human body was simplified as a rigid body which consists of 18 actuated degrees of freedom for the real time computation. Complex human kinematic mechanism was regarded as a composition of 6 serial kinematic chains : left arm, right arm, support leg, free leg, body, and head. Based on the this kinematic analysis, dynamic model of human body was determined using Newton-Euler formulation recursively. The balance controller was designed in order to control the nonlinear dynamics model of human body. The effectiveness of designed controller was examined by the graphical simulation of human walking motion. The simulation results were compared with the model base control results. And it was demonstrated that, the balance controller showed better performance in mimicking the dynamic motion of human walking.

• International Journal of Aeronautical and Space Sciences
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• v.2 no.1
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• pp.28-43
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• 2001

Developed in these two series of paper is a complex dynamic model representing the motion of aircraft on the ground and a computer program for numerical simulation. The first part of paper presents the theoretical derivation of equations of motion of the landing gear system based on the physical principle. Developed model is 'structured' in the sense that the undercarriage system is regarded as an assembly of strut, tire, and wheel, where each component is modeled by a separate module. These modules are linked with two external modules-the aircraft and the runway characteristics-to carry out dynamic analysis and numerical simulation of the aircraft motion on the ground. Three sets of coordinate system associated with strut, wheel/tire and runway are defined, and external loads to each component and response characteristics are examined. Lagrangian formulation is used to derive the undercarriage equations of motion relative to the moving aircraft, and the resultant forces and moments from the undercarriage are transformed to aircraft body axes.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.819-824
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• 1997

This paper presents a cell-based motion control strategy for soccer playing mobile robots. In the central robot motion planner, the planar ground is divided into rectangular cells with variable sizes and motion indices to which direction the mobile robot should move. At every time the multiple objects-the goal gate, ball, and robots-detected, integer values of motion indices are assigned to the cells occupied by mobile robots. Once the indices being calculated, the most desirable state-action pair is chosen from the state and action sets to achieve successful soccer game strategy. The proposed strategy is computationally simple enough to be used for fast robotic soccer system.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1111-1118
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• 2006

This paper covers topics related to the investigations for the problem of sensorless vibratory orienting of polygonal parts with high probability through dynamic simulation. The author's program for mechanical systems with changing topologies was experimentally validated and was used as a simulation and design tool for motion behaviors of the vibratory parts-orienting system in the dynamic environment. A flat level vibrating bar is proposed as a means of orienting parts. Dynamic manipulation, in which a part is repeatedly caught and tossed by the bar without sensing, forms the fundamental manipulation strategy. This paper presents how to plan vibratory manipulation strategies that can orient a small rigid polygonal part using interaction between the part and the vibrating bar without requiring sensing. The planned motion strategies have been experimentally validated to show how the dynamic simulation can be used to find favorable vibration parameters for a given part without knowledge of their initial orientations.

• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.3
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• pp.318-328
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• 2018

Disk type underwater gliders are a new type of underwater gliders and they could glide in various directions by adjusting the internal structures, making a turnaround like conventional gliders unnecessary. This characteristic of disk type underwater gliders makes them have great potential application in virtual mooring. Considering dynamic models of conventional underwater gliders could not adequately satisfy the motion characteristic of disk type underwater gliders, a nonlinear dynamic model for the motion simulation of disk type underwater glider is developed in this paper. In the model, the effect of internal masses movement is taken into consideration and a viscous hydrodynamic calculation method satisfying the motion characteristic of disk type underwater gliders is proposed. Through simulating typical motions of a disk type underwater glider, the feasibility of the dynamic model is validated and the disk type underwater glider shows good maneuverability.