• 한국정밀공학회지
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• 제19권5호
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• pp.51-55
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• 2002

This paper presents a systematic methodology and formulation for determining optimal strategies of multi-body dynamic systems, which is based on multi-body dynamics, design sensitivity, and optimization techniques, and is applicable to a wide variety of mechanical systems. The particular application discussed in this paper considers a vehicle model with four-wheel steeling capability, and the presented methodology determines an optimal steering angle ratio strategy for the vehicle. It is shown that such a strategy can improve the ride stability of the vehicle, during a variety of maneuvers, when compared against similar strategies obtained from linear and simplified vehicle models.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.350-356
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• 2005

A method of dynamic analysis of mechanical systems considering probabilistic properties is proposed in this paper. Probabilistic properties that result from manufacturing tolerances can be represented by means and standard deviations (or variances). The probabilistic characteristics of dynamic responses of constrained multi-body systems are obtained by two ways : the proposed analytical approach and the Monte Carlo simulation. The formerpaper, necessitates sensitivity information to calculate the standard deviations. In this a direct differentiation method is employed to find the sensitivities of constrained multi-body systems. To verify the accuracy of the proposed method, numerical examples are solved and the results obtained by using the proposed method are compared to those obtained by Monte Carlo simulation.

• 한국공작기계학회논문집
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• 제11권2호
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• pp.80-86
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• 2002

Previous method of computer simulation to predict the dynamic response of a vehicle has been based on the assumption that vehicle structure is rigid. If the flexibility of the vehicle structure becomes too large to ignore, rigid body assumption will no longer give good estimation of the dynamic characteristics. Therefore, in order to predict more precise vehicle dynamic characteristics, flexible multi-body dynamic analysis of a vehicle is necessary. This paper investigates dynamic characteristics of vehicle systems with flexible frames numerically. Joint reaction forces, vertical accelerations, pitch accelerations are analyzed for the vehicle systems with various flexible frames using multi-body dynamic analysis code and finite element analysis code.

• 대한임베디드공학회논문지
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• 제2권4호
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• pp.221-226
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• 2007

This paper propose a control network system based on IEEE1394 for a multi body robot control. The IEEE1394 has the characteristic of high speed(400Mbps), real-time, stability and plug&play. And IEEE1394 also supports freeform daisy chaining, branching and hot plugging, which reduce cabling complexity and make a system simple. Especially, multi host and broad casting support network data sharing method which is suitable for control network for multi body robot. Through experiment, we show that the proposed control network can interface 48 joints (BLDC motors, gears, and encoders) and four 6-axis force/torque sensors with 4Khz communication bandwidth, which is adequate for a multi body robot.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2006년도 추계학술대회논문집
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• pp.95-100
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• 2006

Tolerance analysis method for natural frequencies of multi-body systems having a equilibrium position is suggested in this paper. To perform the tolerance analysis, the Monte-Carlo Method is conventionally employed. However, the Monte-Carlo Method has some weakness; spending too much time for analysis and having a low accuracy and hard to converge in the numerical unstable area. To resolve these problems, a tolerance analysis method is suggested in this paper. Sensitivity equations of natural frequencies are derived at the equilibrium position. By employing the sensitivity information of mass, damping and stiffness matrices, the sensitivity of natural frequencies can be calculated.

• 한국소음진동공학회논문집
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• 제17권1호
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• pp.65-71
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• 2007

Tolerance analysis method for natural frequencies of multi-body systems having a equilibrium position is suggested in this paper. To perform the tolerance analysis, the Monte-Carlo Method is conventionally employed. However, the Monte-Carlo Method has some weakness; spending too much time for analysis and having a low accuracy and hard to converge in the dynamical unstable area. To resolve these problems, a tolerance analysis method is suggested in this paper. Sensitivity equations of natural frequencies are derived at the equilibrium position. By employing the sensitivity information of mass, damping and stiffness matrices, the sensitivity of natural frequencies can be calculated.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.401-406
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• 1991

An integrated control design and modeling method of multibody space structures is presented as a tool to control an d describe the large rotational motions of the space structures. The structures representeed with three separated substructures have independent control systems but linked with joints interacting the dynamic motions of the substructures. The effect of the structural flexibility to the control performance was analyzed and the simulation results showed that effectiveness of the designed control logic in controlling the motions of the multi-body space structures.

• 한국소음진동공학회논문집
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• 제17권7호
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• pp.579-586
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• 2007

Analytical method to analyze the effect of tolerance on the modal characteristic of multi-body systems in dynamic equilibrium position is suggested in this paper. Monte-Carlo method is conventionally employed to perform the tolerance analysis. However, Monte-Carlo method spends too much time for analysis and has a greater or less accuracy depending on sample condition. To resolve these problems, an analytical method is suggested in this paper. Sensitivity equations for damped natural frequencies and the transfer function are derived at the dynamic equilibrium position. By employing the sensitivity information of mass, damping and stiffness matrices, the sensitivities of damped natural frequencies and the transfer function can be calculated.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 춘계학술대회논문집
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• pp.109-114
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• 2007

Analytical method to analyze the effect of tolerance on the modal characteristic of multi-body systems in dynamic equilibrium position is suggested in this paper. Monte-Carlo Method is conventionally employed to perform the tolerance analysis. However, Monte-Carlo Method spends too much time for analysis and has a greater or less accuracy depending on sample condition. To resolve these problems, an analytical method is suggested in this paper. By employing the sensitivity information of mass, damping and stiffness matrices, the sensitivities of damped natural frequencies and the transfer function can be calculated at the dynamic equilibrium position. The effect of tolerance on the modal characteristic can be analyzed from tolerance analysis method.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집A
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• pp.758-763
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• 2001

A concept called Allowable Load Set (ALS) is introduced and methods of finding its boundaries are developed. The resulting diagram allows an easy understanding of load and strength characteristics of a structure in relation to structural integrity under uncertain loading conditions. An allowable load diagram for an ALS visualizes the relation between a prescribed load and a degree of safety of the structure. During the application of the algorithms, critical areas of the structure are identified. A systematic method of finding the allowable load sets for multi-body mechanical systems is especially presented and applied to an excavator as a realistic case.