• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.488-494
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• 2001

Many literatures, so far, have concentrated on approaches employing dependent coordinates set resulting in computational burden of constraint forces, which is needless in many cases. Some researchers developed methods to remove or calculate it efficiently. But systematic generation of the motion equation using independent coordinates set by Kane's equation is possible for any closed loop system. Independent velocity transformation method builds the smallest size of motion equation, but needs practically more complicated code implementation. In this study, dependent velocity matrix is systematically transformed into independent one using dependent-independent transformation matrix of each body group, and then motion equation free of constraint force is constructed. This method is compared with the other approach by counting the number of multiplications for car model with 15 d.o.f..

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2001년도 추계학술대회논문집 II
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• pp.725-730
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• 2001

This paper presents a vibration analysis method for constrained mechanical systems driven by constant generalized speeds. Equilibrium positions are obtained first and vibration analysis are performed around the positions. The method developed in this paper employs partial velocity matrix to obtain a minimum number of differential equations. To verify the accuracy of the proposed algorithm, linear vibration analyses of two numerical examples are performed and the results are compared with results from a commercial program or previous literature.

• 대한조선학회논문집
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• 제47권3호
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• pp.421-429
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• 2010

In this paper, in order to analyze the dynamic response of a floating crane when it lifts a heavy cargo, the boom of the floating crane is considered as an elastic beam. The boom is divided into elements based on finite element formulation and the floating frame of reference formulation and nodal coordinates are employed to model the boom as a flexible body. As an extension of the previous study, in order to consider spatial motion in waves, the coupled equations of motions of the 6 degree of freedom (DOF) floating crane and 6 DOF cargo are developed based on the flexible multibody system dynamics. The 3 dimensional deformation of the elastic boom is considered with 18 DOF. The dynamic simulation of the floating crane and the cargo is performed under regular wave conditions with various cargo weights. Finally, the effects of the elastic boom on lifting cargo are discussed by comparing the simulation results between the elastic boom and a rigid boom.

• 한국정밀공학회지
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• 제17권11호
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• pp.165-175
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• 2000

In recent years, it becomes a very important issue to consider the mechanical systems such as high-speed vehicles and railway trains moving on elastic beam structures. In this paper, a general approach, which can predict the dynamic behavior of constrained mechanical system and elastic beam structure, is proposed. Also, various supporting conditions of a foundation support are considered for the elastic beam structures. The elastic structure is assumed to be a nonuniform and linear Bernoulli-Euler beam with proportional damping effect. Combined Differential-Algebraic Equations of motion are derived using multibody dynamics theory and Finite Element Method. The proposed equations of motion can be solved numerically using generalizd coordinate partitioning method and Predictor-Corrector algorithm, which is an implicit multi-step integration method.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2010년도 춘계학술대회 논문집
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• pp.774-775
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• 2010

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.576-583
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• 2000

A robust position control using a sliding mode controller is adopted for the stable dynamic walking of the biped. For the biped robot that is modeled with 14 degrees of freedom rigid bodies using the method of the multibody dynamics, the joint angles for simulation are obtained by the velocity transformation matrix using the given Cartesian foot and trunk trajectories. Hertz force model and Hysteresis damping element which is used in explanation of the energy dissipation during contact with ground are used for modeling of the ground reactions during the simulation. By the obtained that forces which contains highly confused noise elements and the system modeling uncertainties of various kinds such as unmodeled dynamics and parameter inaccuracies, the biped system will be unstable. For that problems, we are adopting a nonlinear robust control using a sliding mode controller. Under the assumption that the esimation error on the unknown parameters is bounded by a given function, that controller provides a successful way to preserve stability and achieve good performance, despite the presence of strong modeling imprecisions or uncertainties.

• 한국정밀공학회지
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• 제17권11호
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• pp.176-184
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• 2000

Recently, it becomes a very important issue to consider the mechanical systems such as high-speed vehicle and railway train moving on a flexible beam structure. Using general approach proposed in the first part of this paper, it tis possible to predict planar motion of constrained mechanical system and elastic structure with various kinds of foundation supporting condition. Combined differential-algebraic equations of motion derived from both multibody dynamics theory and Finite Element Method can be analyzed numerically using generalized coordinate partitioning algorithm. To verify the validity of this approach, results from simply supported elastic beam subjected to a moving load are compared with exact solution from a reference. Finally, parameter study is conducted for a moving vehicle model on a simply supported 3-span bridge.

• 항공우주시스템공학회지
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• 제14권6호
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• pp.18-25
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• 2020

This study investigated the structural behaviors and safety of an electro-mechanical linear actuator and a load simulator with a plate spring. The material and dimensions of the plate spring were determined by theoretically calculating the stress and torsional angle for the rating load of the actuator. Thereafter, a flexible multibody dynamics (FMBD) analysis was conducted on the linear actuator and load simulator to confirm the performance of the load simulator and acquire the reaction forces acting on the actuator and simulator. The structural safety of the linear actuator and load simulator was evaluated via finite element analysis using the aforementioned reaction forces. Consequently, the proposed linear actuator and load simulator were determined to be structurally safe; however, the safety factors for the actuation rod and the housing on the actuator were excessively high. Therefore, the weight and cost must be reduced to improve their design parameters in the future.

• Structural Engineering and Mechanics
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• 제5권2호
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• pp.209-220
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• 1997

The dynamic equations for an arbitrary cluster comprising rigid spheres or assemblies of spheres (subclusters) encountered in granular-type systems are considered. The system is treated within the framework of multibody dynamics. It is shown that for an arbitrary cluster topology the governing equations can be given in an explicit scalar from. The derivation is based on the D'Alembert principle, on inertial coordinate system for each body and direct utilization of the path matrix describing the topology. The scalar form of the equations is important in computer simulations of flow of granular-type materials. An illustrative example of a three-body system is given.

• Journal of Mechanical Science and Technology
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• 제16권6호
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• pp.810-818
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• 2002

When the contribution of lightweight components to the total energy of a system is small, tole inertia effects are sometimes ignored by replacing them to massless links. For example, a revolute-spherical massless link generates two kinematic constraint equations between adjacent bodies and allows four relative degrees of freedom. In this paper, to implement a massless link systematically in a computer program using the velocity transformation technique, the velocity transformation matrix of massless links is derived and numerically implemented. The velocity transformation matrix for a revolute-spherical massless link and a revolute-universal massless link are appeared as a 6$\times$4 matrix and a 6$\times$3 matrix, respectively. A massless link model in a suspension composite joint transmitting external forces is also developed and the numerical efficiency of the proposed model is compared to a conventional multibody model. For a massless link transmitting external forces, forces acting on links are resolved and transmitted to the attached points with a quasi-static assumption. Numerical examples are presented to verify the formulation.