• 한국생산제조학회지
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• 제22권3_1spc호
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• pp.587-592
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• 2013

Until recently, the primary users of wheelchairs were people with lower body disabilities. However, the number of patients recovering from accidents or surgery, as well as the number of elderly people using wheelchairs, is constantly increasing. This study examined the design and manufacture of standing and gait assist wheelchairs that assist temporary gait disturbed patients to take rehabilitation training and elderly people to engage in walking exercise. A kinematic analysis was used to select a drive motor and design a four-bar linkage mechanism for lifting the backrest vertically. Using a multibody dynamic simulation, detailed design was performed taking into consideration the spatial motion and partial interference, and the necessary push force and stroke of the linear actuator were also calculated. To ensure structural safety, the von-Mises equivalent stresses of the upper and lower brackets of the linear actuator were verified through a finite element analysis. The manufactured wheelchair was shown to operate successfully as intended, using the developed controller for the drive motors and linear actuator.

• 대한기계학회논문집A
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• 제32권10호
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• pp.882-889
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• 2008

A humanoid is a robot with its overall appearance based on that of the human body. When the humanoid moves or walks, dynamic forces act on the body structure. Although the humanoid keeps the balance by using a precise control, the dynamic forces generate unexpected deformation or vibration and cause difficulties on the control. Generally, the structure of the humanoid is designed by the designer's experience and intuition. Then the structure can be excessively heavy or fragile. A humanoid design scenario for a systematic design is proposed to reduce the weight of the structure while sufficient strength is kept. Lower parts of the humanoid are selected to apply the proposed design scenario. Multi-body dynamics is employed to calculate the external dynamic forces on the parts and structural optimization is carried out to design the lower parts. Because structural optimization using dynamic forces directly is fairly difficult, linear dynamic response structural optimization using equivalent static loads is utilized. Topology and shape optimizations are adopted for two steps of initial and detailed designs, respectively. Various commercial software systems are used for analysis and optimization. Improved designs are obtained and the design results are discussed.

• 한국자동차공학회논문집
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• 제9권6호
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• pp.186-194
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• 2001

To meet the challenge of testing increasingly complex automotive control systems, the real-time hardware-in-the-loop(HIL) simulation technology has been developed. In this paper, a strategy for evaluation of semiactive suspension systems using real-time HIL simulation is presented. A multibody vehicle model is adopted to simulate vehicle dynamic motions accurately. Accuracy of the vehicle simulation results is compared to that of the real vehicle field test and proven to be very accurate. The controller and stepping motor to adjust semi-active damper stage are equipped as external hardwares and connected to the real-time computer which has vehicle dynamic model. Open and closed loop test methods are used to evaluate a controlled suspension system and the system's operations are verified it is found that the proposed evaluation methods can be used well for the verification of semi-active suspension systems.

• Agricultural and Biosystems Engineering
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• 제5권2호
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• pp.45-49
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• 2004

Objective of the study was to develop a garlic clove metering device. The metering device consisted of a drum, a bucket and a bucket cover. A garlic clove simulator was designed to simulate motions of garlic cloves in the metering device. Simulation was performed using a multibody dynamic analysis program, RecurDyn version 5.1. Physical properties of garlic cloves such as mass and center of gravity were determined using 3D CAD modeler, IDEAS version 10.0. In order to compare the results of the simulation with actual movement of a garlic, movement of garlic clove was photographed by a high speed camera. A prototype metering device was built and tested under various metering speeds and metering guide angles. At the 12 rpm metering speed, rate of single-clove-discharge was $90.0\%$ and missing rate $1.3\%$ at $5^{\circ}$.

• 한국정밀공학회지
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• 제18권5호
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• pp.137-146
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• 2001

A robust controller with the sliding mode is proposed for stable dynamic walking of the biped robot in this paper. For the robot system to be controlled, which is modeled as 14 DOF rigid bodies by the method of multi-body dynamics, the joint angle trajectories are determined by the velocity transformation matrix. Also Hertz force model and Hysteresis damping element are utilized for the ground reaction and impact forces during the contact with the ground. The biped robot system becomes unstable since those forces contain highly confused noise components and some discontinuity, and modeling uncertainties such as parameter inaccuracies. The sliding mode control is applied to solve above problems. Under the assumption of the bounded estimation errors on the unknown parameters, the proposed controller provides a successful way to achieve the stability and good performance in spite of the presence of modeling imprecisions of uncertainties.

• 한국자동차공학회논문집
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• 제20권2호
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• pp.47-55
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• 2012

This work deals with dynamic analysis of a monorail system with magnetic caterpillar where magnets are embedded inside each articulated element of the caterpillar, augmenting traction force of main rubber wheels to climb up slope up to 15 degree grade. Considerations are first given to determine stiffness of the primary and secondary suspension springs in order for the natural frequencies of car body and bogie associated with vertical, pitch, roll and yaw motion to be within generally accepted range of 1-2 Hz. Equations for calculating magnetic force needed to climb up given slope are derived, and a magnetic caterpillar system for 1/6 scale monorail is designed based on the derivation. To assess the hill climbing ability and cornering stability, and make sure smooth operation of the side and vertical guiding wheels which is critical for safety, a multibody model that takes into account of every component level design characteristics of car, bogie, and caterpillar is set up. Through hill climbing simulation and comparison with measurement of the limit slope, the validity of the analysis and design of the magnetic caterpillar system are demonstrated. Also by studying the curving behavior, maximum curving speed without rollover, functioning of lateral motion constraint system, the effects of geometry of guiding rails are studied.

• EDISON SW 활용 경진대회 논문집
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• 제6회(2017년)
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• pp.110-117
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• 2017

Multiscale Simulation은 sub-nano scale의 전자 구조에서부터 macro scale의 multibody system에 이르기까지 다양한 시간/공간 스케일을 관통하는 시뮬레이션 기법이다. 즉, 전자수준에서의 변화로 인한 분자 전체의 구조 변화와 그에 따른 기능의 변화를 알 수 있는 simulation 방법으로 다양한 스케일에서 분자의 정보를 얻을 수 있다는 점에서 최근 중요하게 여겨지는 시뮬레이션 방법 중 하나이다. 따라서 본 연구에서는 몇 가지의 EDISON_CHEM 솔버들을 조합하여 Multiscale Simulation의 가능성을 제시하고자 한다. 또한, 세부적으로 양자계산 시에 어떤 이론을 선택하여 계산하면 더 정확한지, basis set 선택 시 발생하는 basis set superposition error(BSSE)로 인한 분자 수준의 물성의 오차는 어느정도 인지 알아보고자 했다. 본 연구에서는 비교적 간단하지만 온실 가스이자 에너지원으로 각광받고 있는 메탄을 대상으로 하였다. 다양한 시공간 스케일을 다루는 에디슨 솔버들 중에 양자 수준의 계산을 할 수 있는 솔버로는 "GAMESS"를 이용했고, 이 결과를 통해 분자 수준의 물성을 알아보기 위한 솔버로는 "사용자 지정 역장을 사용한 일반 분자동력학(general_MD)"과 "두가지 서로 다른 종류의 LJ입자에 대한 분자동력 시뮬레이션 프로그램(sejong_lj))"을 이용했다. 메탄의 상 전이 과정에 대한 연구 결과 Hartree fock (HF) self-consistent theory를 통해 얻은 force field 보다는 Second-order Møller-Plesset (MP2) perturbation theory로 얻은 force field가 더 정확한 상 전이 온도를 예측한다는 것을 메탄의 coarse-grained simulation을 통해 알 수 있었다. 또한, MP2 이론으로 구한 force field에서 BSSE를 보정해주면 실험적으로 구한 메탄의 상 전이 온도와 더 근사한 값의 시뮬레이션 결과를 얻을 수 있었다. 이를 통해 전자 간의 상호작용을 더 정교하게 계산하는 MP2 이론으로 force field를 구해서 BSSE를 보정해주면 계산의 결과가 정확해진다는 것을 알 수 있었으며 이것이 EDISON_CHEM의 솔버들로 가능하다는 것을 제시하였다.

• 한국자동차공학회논문집
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• 제19권5호
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• pp.82-91
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• 2011

In this paper, a planar model for mechanics of a vehicle/pedestrian collision incorporating road gradient is derived to evaluate the pre-collision speed of vehicle. It takes into account a few physical variables and parameters of popular wrap and forward projection collisions, which include horizontal distance traveled between primary and secondary impacts with the vehicle, launch angle, center-of-gravity height at launch, distance from launch to rest, pedestrian-ground drag factor, the pre-collision vehicle speed and road gradient. The model including road gradient is derived analytically for reconstruction of pedestrian collision accidents, and evaluates the vehicle speed from the pedestrian throw distance. The model coefficients have physical interpretations and are determined through direct calculation. This work shows that the road gradient has a significant effect on the evaluation of the vehicle speed and must be considered in accident cases with inclined road. In additions, foreign/domestic empirical cases and multibody dynamic simulation results are used to construct a least-squares fitted model that has the same structure of the analytical one that provides an estimate of the vehicle speed based on the pedestrian throw distance and the band within which the vehicle speed would be expected to be in 95% of cases.

• Journal of Biosystems Engineering
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• 제32권2호
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• pp.69-76
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• 2007

This study was conducted to evaluate the sideways overturning stability of side loaded mini-forwarder. The model of a prototype was developed using a 3D CAD modeler and the performance was experimentally validated. The prototype model was run on the multibody dynamic analysis program, RecurDyn 6.0, to simulate motions when the model traversed over a circular bump on a inclined ground surface. The simulation was performed at a constant forward speed of 1.85 km/h under the loaded and unloaded conditions. The forward direction was also controlled to vary from 0 to 360 degrees with an increment of 10 degrees. Results of the simulation showed safe regions in which the mini forwarder could travel safely in terms of direction and slope of the ground. Even when the mini-forwarder was loaded by 20 logs of 3.6 m long and 12 cm diameter, it traveled safely within the ground slopes of 1 to 45 degrees by directions.

• 한국자동차공학회논문집
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• 제25권2호
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• pp.167-178
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• 2017

The steering wheel of a vehicle has a typical characteristic of automatically returning to its neutral state when the driver releases it. Steering returnability originated from the tire forces and kingpin moments. It is proportional to the reaction torque that is generated through the rack and column, which are dependent on suspension and steering geometry. It is also important to accurately predict and design it because steering returnability is related to steering performance. In this study, a detailed multibody dynamics model of a vehicle was designed by using ADAMS/Car and simulated for steering returnability. In addition, a tolerance analysis of the chassis system in terms of part dimension and properties has been performed in order to minimize the design parameters. The sensitivity of the selected design parameters was then analyzed via Design of Experiments(DOE). As a result, we were able to obtain the main parameters through a contribution analysis. It can be used to predict steering returnability and improve its performance, which is represented by the angle of restoration and laterality.