• Journal of Computational Design and Engineering
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• v.3 no.4
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• pp.312-321
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• 2016

Dynamic behaviour of a slider-crank mechanism associated with a smart flexible connecting rod is investigated. Effect of various mechanisms' parameters including crank length, flexibility of the connecting rod and the slider's mass on the dynamic behaviour is studied. Two control schemes are proposed for elastodynamic vibration suppression of the flexible connecting rod and also obtaining a constant angular velocity for the crank. The first scheme is based on feedback linearization approach and the second one is based on a sliding mode controller. The input signals are applied by an electric motor located at the crank ground joint, and two layers of piezoelectric film bonded to the top and bottom surfaces of the connecting rod. Both of the controllers successfully suppress the vibrations of the elastic linkage.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.11
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• pp.2804-2811
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• 2000

A Nordsick form opf the multirate integration scheme has been proposed for flexible multibody dynamic systems. It is assumed that vibrational modal coordinates in the equations of motion are treated as fast variables, whereas the relative joint coordinates are treated as slow variables. In the multirate integration, the fast variables are integrated with small step-size, and the slow variables are integrated with larger step-size. The proposed multirate integration method is based on the Adams-Bashforth-Moulton predictor-corrector method and implemented in the Nordsieck vector form. The Nordsieck form of multrate integration method provides effective step-size control and at the same time, inherits the efficiency from the Adams integration method. Simulations of a flexible gun and turret system of the military tank have been carried out to show the effectiveness and efficiency of the proposed method.

• 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.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.4
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• pp.446-454
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• 2011

In terms of the anatomy and mechanics of the human foot, a flexible robot foot with toes and heel joints is designed for a bipedal walking robot. We suggest three design considerations in determining foot design parameters which are critical for walking stability. Those include the position of the frontal toe, the stiffness of toes and heels, and the position of the ankle joint. Compared with the conventional foot with flat sale, the proposed foot is advantageous for human-like walking due to the inherent structural flexibility and the reasonable parameter values. Simulation results are provided to determine the design parameters and also show that the proposed foot enables smaller energy consumption.

• Transactions of the Korean Society of Automotive Engineers
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• v.5 no.1
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• pp.101-109
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• 1997

A tool for the dynamic simulation and design technique of the excavator plays an important role in the prediction of dynamic behavior of the excavator in the initial design stage. In this paper, a flexible multibody dynamic analysis model including track of the crawler type excavator is developed using DADS and ANSYS. Through the driving simulation of the excavator travelling over rough road track, frequency characteristics of the upper frame and cabin are obtained, and the reaction forces acting on the track rollers are also presented for the fatigue life estimation. The effect of boom vibration modes on the joint reaction forces and accelerations is presented from the swing simulation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.10a
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• pp.266-266
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• 2003

• Proceedings of the KWS Conference
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• 2006.10a
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• pp.193-195
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• 2006

• Tribology and Lubricants
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• v.16 no.1
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• pp.39-45
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• 2000

In this paper, the effects of shaft and bearing flexibilities are investigated for the accurate modeling of a shaft-bearing system supported by ball bearings. Generally, rolling bearings are modeled by simple rigid pin-joint in the mechanical design. However, they can no longer be modeled by ideal boundary conditions in the advanced applications because the rigid pin-joint model cannot satisfy the current trends of mechanical design decreasing mass and reducing volume. Consequently the flexible support model of ball bearing is investigated using the static analysis module developed by A .B. Jones and T. A. Harris. A simple two-bearing system, supported by two deep groove ball bearings and radially loaded on the shaft midway between the bearings, is utilized to validate the coupled model of shaft-bearing system. Numerical computations using the model indicate that the shaft span length, locating/floating bearing arrangements and applied bearing size are significant factors in determining the mechanical behaviors. The flexible support model of ball bearing can be escaped to over-estimate in the bearing fatigue life. The proposed simple design formulation obtained by numerical simulations can approximately predict a rate of bearing life reduction as a function of shaft span length/shaft diameter (L/d).

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.66 no.3
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• pp.117-122
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• 2017

Due to the aging and obesity population in Korea, degenerative musculoskeletal diseases and people suffering from degenerative arthritis are increasing day by day. So, it is necessary to develop rehabilitation treatment device. Conventional high-frequency treatment devices have disadvantages in that therapeutic range is narrow, cost is high, image is adversely affected, treatment time is long, and failure rate is high. This paper proposes a customized therapy device that is stable and effective in reducing treatment time and output to target body part using 2MHz switching frequency, feedback control technique, and joint insulation flexible multipolar electrode. The device can be a new concept high-frequency stimulator to accommodate the advantages of CET and RET.