• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.8 s.179
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• pp.2050-2058
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• 2000

A method for the inverse dynamic analysis of constrained multibody systems considering friction forces acting on kinematic joints is presented in this paper. The stiction and the sliding which represent zero and non-zero relative motions are considered during the inverse dynamic analysis. Actuating forces to control the position or the orientation of constrained multibody systems are usually calculated in the inverse dynamic analysis. An iterative procedure need to be employed to calculate the actuating forces when the friction is considered. Furthermore, the actuating forces are not uniquely determined during the stiction. These difficulties are resolved by the method presented in this paper.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.8
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• pp.2043-2050
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• 1993

This paper presents a three dimensional modeling and dynamic analysis of a hydraulic excavator. An excavator composed of a boom, a bucket, two boom cylinders, an arm cylinder, and a bucket cylinder is used for the analysis. Each cylinder is modeled to two separate bodies linked by a translational joint. Judging from the actual degrees of freedom of the excavator, proper kinematic joints are selected to exclude redundant constraints in the modeling. In order to find the reaction forces at kinematic joints during operations, inverse dynamic analysis is carried out. Dynamic analysis is also carried out to verify the results from inverse dynamic analysis. The DADS program is used for analysis, with proper modification of the DADS user routine according to various motions.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.881-886
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• 2004

This paper presents the inverse dynamic analysis of the wheel loader manipulator based on the experimental data. A three dimensional rigid multi-body model of the wheel loader manipulator was built up. The inverse dynamic analysis for the typical operation mode was carried out by the ADAMS program. In order to verify the analysis result with the measured one, the hydraulic pressure and displacements of the cylinders were measured and the inverse dynamic analysis was carried out using experimental data. From the results of the analysis and measurement, it was concluded that the computational driving force showed good agreement with the measured one.

• Proceedings of the Korean Geotechical Society Conference
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• 2010.03a
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• pp.759-764
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• 2010

In this study, from the comparison of the results obtained by 3 dimensional dynamic analyses using the inverse-calculated properties and those by calculating using the real earthquake records, the inverse calculation method for obtaining the dynamic properties of rockfill materials was verified. The fundamental frequency of the dam was determined by analyzing the response spectrum of observed records. By repeated dynamic analyses for various shear moduli of rockfill material, the shear moduli in the rockfill zone that satisfy the relationship between the fundamental frequency obtained by analysis of the observed records and that by numerical analyses were determined. Using the determined shear moduli, the 3 dimensional dynamic analyses for the dam were carried out and the result were compared with the real response characteristics on the crest of the dam.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.13-23
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• 2002

This paper presents inverse kinematic and dynamic analyses of HexaSlide type six degree-of-freedom parallel manipulators. The HexaSlide type parallel manipulators (HSM) can be characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. In the inverse kinematic analyses, the slider and link motion (position, velocity, and acceleration) is computed given the desired mobile platform motion. Based on the inverse kinematic analysis, in order to compute the required actuator forces given the desired platform motion, inverse dynamic equations of motion of a parallel manipulator is derived by the Newton-Euler approach. In this derivation, the joint friction as well as all link inertia are included. Relative importance of the link inertia and joint frictions on the computed torque is investigated by computer simulations. It is expected that the inverse kinematic and dynamic equations can be used in the computed torque control and model-based adaptive control strategies.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.5
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• pp.118-123
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• 2001

Most structures of automobile are composed of many substructures connected to one another by various types of mechanical joints. In automotive engineering, it is important to study these connected structures under various dynamic farces for the evaluations of fatigue life and stress concentration exactly. It is rarely obtained the accurate load history of specified positions because of the errors such as modeling, measurement, and etc. In the beginning of design, exact load data are actually necessary for the fatigue strength and life analysis to minimize the cost and time of designing. In this paper, the procedure of practical dynamic load determination is developed by the combination of the principal stresses of F.E. analysis and experiment. Inverse problem and least square pseudo inverse matrix are adopted to obtain an inverse matrix of analyzed stresses matrix. Pseudo-Practical dynamic load was calculated for Lab. Test of sub-structure. GUI program(PLODAS) was developed for whole of above procedure. This proposed method could be extended to any geometric shape of structure.

• Journal of Biomedical Engineering Research
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• v.25 no.4
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• pp.301-307
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• 2004

An inverse dynamic model of lower limbs is presented to calculate joint moments during gait. The model is composed of 4 segments with 3 translational joints and 12 revolute joints. The inverse dynamic method is based on Newton-Euler formalism. Kinematic data are obtained from 3 dimensional trajectories of markers collected by a motion analysis system. External forces applied on the foot are measured synchronously using force plate. The use of developed model makes it possible to calculate joint moments for variation of parameters.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.711-716
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• 2003

This paper presents the inverse dynamic analysis of the hydraulic excavator manipulator based on the experimental data. A three dimensional rigid multi-body model of the hydraulic excavator manipulator was built up. Inverse dynamic analysis for typical operation mode was carried out by the ADAMS program. In order to verify the analysis results with the measured, the hydraulic pressure and displacement of the cylinders were measured and the dynamic analysis was carried out using experimental data. From the results of the cylinder driving forces, good agreements are obtained between the analysis and the measurement.

• Journal of Korean Association for Spatial Structures
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• v.4 no.1 s.11
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• pp.39-48
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• 2004

Generally, a structural system with large inextensional deformations, or in other words, non-strained deformation is called as 'Unstable Structure', Truss-linked structures, cable structures, membrane structures and movable structures as foldable space structures etc, are included in this category. In this paper, a dynamic analysis method for unstable structural systems is presented. Governing equations for dynamic analysis of unstable truss structures with inextensional displacements are derived. Because of singularity of inverse matrixin in practical analysis of unstable structure, the generalized inverse matrix is Introduced to resolve the singular problem. Also, the RREF technique is used to get the inextensional displacement mode. Two unstable truss structures are analyzed by using presented method. Damping is not considered. From the given results, it is known that proposed method is useful to figure out the dynamic behavior of unstable truss structures.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.