• Transactions of the Korean Society of Mechanical Engineers
• /
• v.10 no.1
• /
• pp.102-109
• /
• 1986

Based on the Hartenberg-Denavit symbolic equation, which is one of equations for the kinematic analysis of three dimensional (3-D) linkage, a generalized kinematic motion equation is derived utilizing Euler angles and employing the coordinates transformation. The derived equation can feasibly be used for the motion analysis of any type of 3-D linkages as well as 2-D ones. In order to simulate the general motion of 3-D linkgages on digital computer, the generalized equation is programmed through the process of numerical analysis after converting the equation to the type of Newton-Raphson formula and denoting it in matrix form. The feasibility of theoretically derived equation is experimentally proved by comparing the results from the computer with those from experimental setup of three differrent but generally empolyed 3-D linkages.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.12 no.5
• /
• pp.146-153
• /
• 2004

Torsion beam rear suspension has been widely adopted to the rear suspension of vehicle by reason of simple structure and cost competitiveness. Since the kinematic characteristics of torsion beam rear suspension are determined by elastic behavior of torsion beam, quasi-static analysis based on finite element modeling of torsion beam has been conducted to obtain the kinematic parameters of torsion beam rear suspension. In this paper, simple kinematic equations with rear geometric parameters are derived to predict the kinematic behavior of torsion beam rear suspension. The suspension design parameters such as roll center height, roll stiffness, roll steer and roll camber can be easily obtained with the kinematic equations. The suggested kinematic equations are validated from comparison with the test results and solution offered by ADAMS. The suspension design parameters varied with the position of torsion beam are discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2011.06a
• /
• pp.359-360
• /
• 2011

• Journal of Korean Society on Water Environment
• /
• v.23 no.1
• /
• pp.38-45
• /
• 2007

A one-dimensional kinematic wave model was used to calculate temporal and spatial changes of the highway runoff. Infiltration into pavement was considered using Darcy's law, as a function of flow depth and pavement hydraulic conductivity ($K_p$). The model equation was calculated using the method of characteristics (MOC), which provided stable solutions for the model equation. 22 storm events monitored in a highway runoff monitoring site in west Los Angeles in the U.S. were used for the model calculation and evaluation. Using three different values of $K_p$ ($5{\times}10^{-6}$, $10^{-5}$, and $2{\times}10^{-5}cm/sec$), total runoff volume and peak flow rate were calculated and then compared with the measured data for each storm event. According to the calculation results, $10^{-5}cm/sec$ was considered a site representative value of $K_p$. The study suggested a one-dimensional method to predict hydrodynamic behavior of highway runoff, which is required for the water quality prediction.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.8 no.1
• /
• pp.110-123
• /
• 2000

In this Study, the dynamic equation for vibration analysis of mechanical systems with kinematic constraints is derived. This equations are derived in terms of small displacements of Cartesian coordinates, and are applied to compute the dynamic response and the natural modes of the suspension system of a vehicle. The results are validated through the comparison with the results from conventional nonlinear dynamic analysis and modal test.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.11
• /
• pp.881-888
• /
• 2020

In this paper, research on estimation of states of a target of interest using Line Of Sight(LOS) angle measurement is performed. Target's position, velocity, and acceleration are chosen to be the states of interests. The LOS measurement is known to be highly non-linear, making target dynamic modeling hard to be implemented into a filter. To solve this issue, the Pseudomeasurement equation was applied to the LOS measurement equation. With the help of this equation, 3D variable turn target dynamic model is applied to the filter model. For better performance, Kinematic Constraint is also implemented into the filter model. As for the filter, Bias Compensation Pseudomeasurement Filter (BCPMF) is used which is known for its robustness to initial conditions. Moreover, Two-Stage Kalman Filter (TSKF) form was also implemented to benefit from the parallel computation. As a result, TBCPMF 3DVT-KC is proposed and simulated to assess performance.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10a
• /
• pp.77-82
• /
• 1996

This paper is concerned with how to utilize kinematic redundancy to reconstruct the inverse kinematic solution which is not attainable due to hardware limitations. By analyzing the error due to hardware limitations, we are to show that the recoverability of limitation reduces to the solvability of a reconstruction equation under the feasibility condition. It will be next shown that the reconstruction equation is solvable if the configuration is not a joint-limit singularity. The reconstruction method will be proposed based on the geometrical analysis of recoverability of hardware limitations. The method has the feature that no task motion error is induced by the hardware limitations while minimizing a possible null motion error, under the recoverability assumed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.5
• /
• pp.469-475
• /
• 1997

A method for solving the inverse kinematic problem of reclaimer is presented in this paper. The reclaimers in the raw yard are being used to dig raws and transfer them to the blast furnaces. The kinematic configuration of the reclaimer is different from that of commercially available robots, because it has a rotating disk with several buckets at the end of the boom to dig raws. The reclaimer has a redundancy due to the rotating disk : the degrees of freedom are greater than the number of forward kinematic equations. A plane equation in the 3-dimensional space is determined by using several points adjacent to the reclaiming point of the raw ores pile. A constraint is obtained from the relation ship of the plane equation and trajectories of the bucket of the reclaimer. Finally, a solution of the inverse kinematics of the reclaimer is determined by a numerical method.

• Proceedings of the Korean Society for Technology of Plasticity Conference
• /
• 2000.04a
• /
• pp.96-100
• /
• 2000

It is difficult to predict material behavior of forming process because the plastic instable flow phenomenon happens in practical forming process I. e. upsetting backward extrusion piercing indentation. In view of the direct relationship between instable material flow and quality defects of the products we should find out their phenomena, In this study we introduced the plastic spin and the kinematic hardening considering the kinematic hardening constitutive equation for rate-dependent material. Also analysis of upset forging is carried out using the rigid plastic FEM with Al7075

• Water for future
• /
• v.27 no.4
• /
• pp.123-133
• /
• 1994

The kinematic and diffusion models using simplified momentum equations of the full dynamic equation have been frequently used for numerical flow simulations, because they have several computational advantages compared to the full dynamic model. In this paper, the more generally acceptable application ranges of the kinematic and diffusion finite difference models were investigated based on three major parameters, which are channel bed slopes So, dimensionless depth increasing numbers Gw at upstream boundary and Froude numbers Fr. The applicable ranges were obtained by comparing the relative magnitudes of the local acceleration, convective acceleration, pressure, gravity and friction terms in the full dynamic equation. In the simulations, a Courant number of 0.5 was used and the channel bed slopes were changed from 0.00001 to 0.05. Also, Froude numbers of 0.1, 0.5 and 0.9 were employed. In this paper, it is indicated that the applicable ranges of kinematic models are increased with increasing of Froude numbers. However, the applicable ranges of diffusion models are decreased with increasing of Froude numbers. Finally, 9 figures were proposed as a guideline in the application of kinematic and diffusion finite difference models based upon the allowable deviation compared to the full dynamic model. With applying the proposed criteria, it is expected that the flow simulations in the channels, streams or rivers are more efficiently achieved.