• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.2
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• pp.352-360
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• 1997

An inverse dynamic procedure for spatial multibody systems containing flexible bodies is developed in the relative joint coordinate space. Constraint acceleration equations are derived in terms of relative coordinates using the velocity transformation technique. An inverse velocity transformation operator, which transforms the Cartesian velocities to the relative velocities, is derived systematically corresponding to the types of kinematic joints connecting the bodies and the system reference matrix. Using the resulting matrix, the joint reaction forces and moments are analyzed in the Cartesian coordinate space. The formulation is illustrated by means of two numerical examples.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.5
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• pp.809-818
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• 1997

An efficient non-recursive formulation of dynamic force analysis has been developed for serially connected multibody systems. Although derivation of equations of motion is based on a recursive dynamic formulation with joint relative coordinates, in the proposed formulation, dynamic forces such as joint reaction forces and driving force are computed non-recursively for specified joints. The efficiency of the proposed formulation has been proved by the operational count and the CPU time measure, comparing with that of the conventional recursive Newton-Euler formulation. A simulation of 7-DOF RRC robot arm has been carried out to validate solutions of reaction forces by comparing with those from a commercial dynamic analysis program DADS.

• 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.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.395-402
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• 2005

This paper deals with modeling and computer simulation of a full multibody vehicle model for a driving simulator. The multibody vehicle model is based on the recursive formulation and a corresponding simulation code is generated automatically from AUTOCODE, which is a symbolic computation package developed by the authors using MAPLE. The paper describes a procedure for automatically generating a highly efficient simulation code for the full vehicle model, while incorporating realistically modeled components. The following issues have been accounted for in the procedure, including software design for representing a mechanical system in symbolic form as a set of computer data objects, a multibody formulation for systems with various types of connections between bodies, automatic manipulation of symbolic expressions in the multibody formulation, interface design for allowing users to describe unconventional force-and torque-producing components, and a method for accommodating external computer subroutines that may have already been developed. The effectiveness and efficiency of the proposed method have been demonstrated by the simulation code developed and implemented for driving simulation.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.6
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• pp.107-112
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• 1998

A great deal of time and effort are required to evaluate the safety and durability of a vehicle structure in the vehicle development stage. It is difficult to find the reasons for cracks which occur in the body and frame of a vehicle during tests. Recently computer aided engineering techniques have been utilized to solve the problems of safety and durability of vehicles. In this study, a dynamic stress analysis is performed on the frame of the vehicle by rigid and flexible multibody dynamics techniques. The result of the analysis is compared to that of the actual test. The full vehicle dynamic models for the rigid and flexible bodies are developed by DADS package. The modal coordinate system is used to save time for the dynamic stress analysis. The flexible multibody dynamic models have 12 normal modes considering the flexibility of the frame. Dynamic stresses arc calculated by relating the stress influence coefficients and the applied forces.

• Journal of Mechanical Science and Technology
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• v.14 no.12
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• pp.1328-1336
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• 2000

• Journal of the Korean Society for Precision Engineering
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• v.27 no.4
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• pp.46-52
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• 2010

A flexible-rigid multibody analysis was pen armed to examine the dynamic response of a heavy handling robot system under a worst motion scenario. A rigid body dynamics analysis was solved and compared with flexible-rigid multibody analysis. The modal analysis and test were also carried out to establish the accuracy and the validation of the finite element model used in this paper. For the flexible-rigid multibody simulation, stresses in several major bodies were interested, so that those parts are flexible and other parts are modeled as rigid body in order to reduce computer resources.

• Advances in aircraft and spacecraft science
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• v.5 no.6
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• pp.653-669
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• 2018

This work has the objective to analyze multibody mechanisms of inflatable structures for manned space applications. The focus is on the evaluation of the main characteristics of MaxFlex, a new module of MSC Adams including the effect of nonlinear flexible bodies. MaxFlex integrates the nonlinear Finite Element Analysis (FEA) of Nastran-SOL400-and the Adams multibody capabilities in one unique solver, providing an improvement concerning the concept and technology based on the co-simulation among solvers. MaxFlex converts the equations of motion of the nonlinear FEA into phase-space form and discretizes them according to the multibody system integrator framework. The numerical results deal with an inflatable manned space module having rigid components and a flexible coating made of Kevlar. This paper is a preliminary assessment of the computational capabilities of the software and does not provide realistic guidelines for the actual design of the structure. The analysis leads to some recommendations related to the main issues to consider in a nonlinear simulation including both rigid and flexible components. The results underline the importance of realistic deployment times and applied forces. Also, a proper structural modeling is necessary, but can lead to excessive computational overheads.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.1
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• pp.48-54
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• 2004

Generally, structural optimization is carried out based on external static loads. All forces have dynamic characteristics in the real world. Mathematical optimization with dynamic loads is extremely difficult in a large-scale problem due to the behaviors in the time domain. In practical applications, it is customary to transform the dynamic loads into static loads by dynamic factors, design codes, and etc. But the optimization results with the unreasonably transformed loads cannot give us good solutions. Recently, a systematic transformation has been proposed as an engineering algorithm. Equivalent static loads are made to generate the same displacement field as the one from dynamic loads at each time step of dynamic analysis. Thus, many load cases are used as the multiple loading conditions which are not costly to include in modem structural optimization. In this research, the proposed algorithm is applied to the optimization of flexible multibody dynamic systems. The equivalent static load is derived from the equations of motion of a flexible multibody dynamic system. A few examples that have been solved before are solved to be compared with the results from the proposed algorithm.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.3
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• pp.486-494
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• 2001

This paper presents a real-time multibody vehicle dynamic analysis method using recursive Kanes formulation and suspension composite joints. To shorten the computation time of simulation, relative coordinate system is used and the equations of motion are derived using recursive Kanes formulation. Typical suspension systems of vehicles such as MacPherson strut suspension system is modeled by suspension composite joints. The joints are derived and utilized to reduce the computation time of simulation without any degradation of kinematical accuracy of the suspension systems. Using the develop program, a multibody vehicle dynamic model is formed and simulations are performed. Accuracy of the simulation results is compared to the real vehicle field test results. It is found that the simulation results using the proposed method are very accurate and real-time simulation is achieved on a computer with single PowerPC 604 processor.