• Journal of the Computational Structural Engineering Institute of Korea
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• v.25 no.5
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• pp.375-380
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• 2012

In this study, dynamic load and dynamic contact force between a building block and wire ropes of a goliath crane are calculated during lifting or turn-over of a building block for the design of an optimal lug arrangement system. In addition, a multibody dynamics kernel for implementing the system were developed. In the multibody dynamics kernel, the equations of motion are constructed using recursive formulation. To evaluate the applicability of the developed kernels, the interferences and dynamic contact force between the building block and wire ropes were calculated and then the hull structural analysis for the block was performed using the calculation result.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.2
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• pp.145-152
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• 2018

This study deals with the method of determining the tip-over stability of a truck mounted on a high place operation car that is frequently used to carry out high-altitude work. Multibody Dynamics Program and Zero Moment Point (ZMP) theory are used to include dynamic effects during the car's high place operation. Through a combination of the Multibody Dynamics Program and ZMP, understanding the dynamic effects of the car's operating parts and building a detailed tip-over model of the car permitted a more precise prediction of the car's tipping-over behavior. It is also expected to help reduce the car's development time due to the time-effective simulation and provide safer work levels for the operating guide (in terms of working radius and lifting capability) with the dynamics effects.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.133-144
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• 2000

The dynamic walking planning and the inverse dynamics of the biped robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian corrdinates then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot the holonomic constraints are added or deleted on the equations of motion. the number of these constraints can be changed by types of walking patterns with three modes. In order for the dynamic walking to be stabilizable optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.548-555
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• 2000

The dynamic walking and the inverse dynamics of the biped walking robot is investigated in this paper. The biped robot is modeled with 14 degrees of freedom rigid bodies considering the walking pattern and kinematic construction of humanoid. The method of the computer aided multibody dynamics is applied to the dynamic analysis. The equations of motion of biped are initially represented as terms of the Cartesian coordinates, then they are converted to the minimum number of equations of motion in terms of the joint coordinates using the velocity transformation matrix. For the consideration of the relationships between the ground and foot, the holonomic constraints are added or deleted on the equations of motion. The number of these constraints can be changed by types of walking pattern with three modes. In order for the dynamic walking to be stabilizable, optimized trunk positions are iteratively determined by satisfying the system ZMP(Zero Moment Point) and ground conditions.

• Journal of Mechanical Science and Technology
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• v.15 no.6
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• pp.693-698
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• 2001

The analysis of actuating forces (or torques) and joint reaction forces (or moments) are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an inverse dynamic analysis algorithm for flexible multibody systems with closed-loops in the relative joint coordinate space. The joint reaction forces are analyzed in Cartesian coordinate space using the inverse velocity transformation technique. The joint coordinates and the deformation modal coordinates are used as the generalized coordinates of a flexible multibody system. The algorithm is verified through the analysis of a slider-crank mechanism.

• Transactions of the KSME C: Technology and Education
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• v.3 no.2
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• pp.125-130
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• 2015

Using flexible multibody system dynamic method, the rigid-flexible coupling multibody dynamic analysis model of the drum brake system was developed, and the kinematic and dynamic simulation of the system was processed as its object of study. Simulations show that the friction will increase with the dynamic friction coefficient, but high dynamic friction coefficient will cause the abnormal vibration and worsen the stability of the brake system, even the stability of the whole automobile. The modeling of flexible multi-body can effectively analyze and solve complex three-dimensional dynamic subjects of brake system and evaluate brake capability. Further research and study on this basis will result in a convenient and effective solution that can be much helpful to study, design and development of the brake system.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.2
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• pp.150-156
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• 2004

In this paper, the dynamic behavior of a very flexible cable due to moving multibody system along its length is presented. The very deformable motion of a cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. Formulation for the sliding joint between a very flexible beam and a rigid body is derived. In order to formulate the constraint equations of this joint, a non-generalized coordinate, which has no inertia or forces associated with this coordinate, is used. The modeling of this sliding joint is very important to many mechanical applications such as the ski lifts. cable cars, and pulley systems. A multibody system moves along an elastic cable using this sliding joint. A numerical example is shownusing the developed analysis program for flexible multibody systems that include a large deformable cable.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.289-292
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• 1994

In this paper, the equations of motion are constructed systematically for multibody systems containing closed kinematic loops. For the displacement analysis of the closed loops, we introduce a new mixed coordinates by adding to the reference coordinates, relative coordinates corresponding to the degrees of freedom of the system. The mixed coordinates makes easy derive the explicit closed form solution. The explicit functional relationship expressed in closed form is of great advantages in system dimension reduction and no need of an iterative scheme for the displacement analysis. This forms of equation are built up in the general purpose computer program for the kinematic and dynamic analysis of multiboty systems.

• Journal of Aerospace System Engineering
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• v.16 no.3
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• pp.63-72
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• 2022

The purpose of this paper was to understand the dynamics of deployment of large mesh antennas, and to provide a numerical method for determining the dynamic stiffness and the driving forces for the design. The deployment structure was numerically modeled using the frame elements. The eigenvalue analysis was demonstrated, with respect to the folded and unfolded configurations of the antenna. A multibody dynamic model was formulated with Kane's equation, and simulated using the pseudo upper triangular decomposition (PUTD) method for resolving the constrained problem. Based on the multibody model, the kinetics of the deployment, the motor driving forces, and the feasibility of the designed deployment structure were investigated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.12
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• pp.1213-1220
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• 2015

A deep seabed integrated mining system consists of a mining vessel, a lifting pipe, a buffer station, a flexible pipe, and a mining robot for collecting manganese nodules. Recently, the concept of multiple mining robots was introduced to enhance to mining productivity. In this paper, the subsystem synthesis method was applied to the deep seabed integrated mining system in order to improve the efficiency of system analysis and to facilitate its extension to the system of multiple mining robots. Large deflections of the lifting and flexible pipe were considered by dividing a flexible pipe into several substructures, and applying flexible multibody dynamics to each substructure. Theoretical study has been carried out for the efficiency of the subsystem synthesis method for the integrated mining system, by comparing the arithmetic operational counts of the subsystem synthesis method with those of the conventional method.