• 대한기계학회논문집A
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• 제24권6호
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• pp.1470-1478
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• 2000

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the system and to design the components. This paper presents an algorithm tha t calculates actuating forces(or torques) depending on the various driving types to produce a given system motion. The joint reaction forces(or torques) of multibody systems with closed-loops are analyzed in the Cartesian coordinate space using the inverse velocity transformation technique. Two numerical examples were carried out to verify the algorithm proposed.

• Journal of Mechanical Science and Technology
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• 제17권1호
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• pp.77-84
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• 2003

Virtual work in multibody systems is frequently expressed as the inner product of the virtual displacement and the resultant force at the centroid. But provided that the resultant force is converted into the equipollent forces there is no restriction on where the analysis reference point is placed. There are basically three candidate points : the centroid, joint point and the instant global origin. The traditional fully recursive formulation uses the centroid, but the present work verifies that the instant global origin always shows better efficiency (e.g. 86% CPU time of the centroid for quarter car model) and joint point shows the efficiency between that of the centroid and the instant global origin. A discussion on how important it is to define the analysis reference point properly in a fully recursive formulation is also presented.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.461-472
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• 2005

A formulation for flexible multibody systems (MBS) is investigated, where rigid MBS substructures are coupled with flexible bodies described by a nonlinear finite element (FE) approach. Several aspects that turned out to be crucial for the presented approach are discussed. The system describing equations are given in differential algebraic form (DAE), where many sophisticated solvers exist. In this paper the performance of several solvers is investigated regarding their suitability for the application to the usually highly stiff DAE. The substructures are connected with each other by nonlinear algebraic constraint equations. Further, partial derivatives of the constraints are required, which often leads to extensive algebraic trans-formations. Handcoding of analytically determined derivatives is compared to an approach utilizing algorithmic differentiation.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.465-470
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• 2001

This paper presents an algorithm which seeks steady-state equilibrium positions of constrained multibody systems driven by constant generalized speeds. Since the relative coordinates are employed, the constraint equations at cut joints are incorporated into the formulation. The proposed algorithm leads to nonlinear equations that need to be solved iteratively. This algorithm should satisfy both types of conditions: the force equilibrium equations and the kinematic constraint equations. To verify the effectiveness of the proposed algorithm, two numerical examples are solved and the results are compared with those of a commercial program. This method, compared to the conventional method of using dynamic analysis, has the advantage of computational efficiency and stability.

• 소음진동
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• 제6권3호
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• pp.287-296
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• 1996

A virtual work form of flexible multibody dynamic formulation with rotary inertia has been derived. For the analysis of large flexible multibody systems, deformation modal coordinates have been employed to represent coupled motion between gross and vibrational motion. For the efficient evaluation of the entries in the mass matrix, a flexible body has been treated as a collection of mass points. The rotary inertia was generated from the consistent mass matrix in a finite element model. Deformation mode shapes were obtained from finite element analysis. Bending and twisting vibration analyses of a cantilever have been carried out to see rotary inertia effects. A space flexible robot simulation has been also carried out to show effectiveness of the proposed formulation. This formulation is effective to the model that consists of beam, plate, or shell element that contains rotational degree of freedom at the nodal point. It is also effective to the flexible body model to which a large lumped rotary inertia is attached.

• Journal of Mechanical Science and Technology
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• 제16권10호
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• pp.1239-1245
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• 2002

A formulation which seeks steady-state equilibrium positions of constrained multibody systems driven by constant generalized speeds is presented in this paper. Since the relative coordinates are employed, constraint equations at cut joints are incorporated into the formulation. To obtain the steady-state equilibrium position of a multibody system, nonlinear equations are derived and solved iteratively. The nonlinear equations consist of the force equilibrium equations and the kinematic constraint equations. To verify the effectiveness of the proposed formulation, two numerical examples are solved and the results are compared with those of a commercial program.

• 대한기계학회논문집A
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• 제21권5호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.476-480
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• 2003

This paper presents an effective method to analyze the dynamic characteristics for the shilling transients of power transmission system using the multibody dynamics, which is composed of subsystem equation, subsystem assemble, and the self-determining technique for the system degree of freedom. Using the advantages of multibody dynamics, the proposed method can be used easily for mathematical models of mechanical systems, such as a power transmission, compared with newtonian method. With this theory, dynamic simulation program was developed. The program can be used to verify system performances, transient phenomena, and other dynamic problems. The simulation of a target system was presented, and its validity was attained by being compared with the previous analysis using newtonian method.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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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.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.388-394
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• 2005

Recently, the authors have developed a method for real-time dynamics of multibody systems, which combines a semi-recursive formulation to derive the equations of motion in dependent relative coordinates, along with an augmented Lagrangian technique to impose the loop closure conditions. The following numerical integration procedures, which can be grouped into the so-called structural integrators, were tested : trapezoidal rule, Newmark dissipative schemes, HHT rule, and the Generalized-${\alpha}$ family. It was shown that, for large multi body systems, Newmark dissipative was the best election since, provided that the adequate parameters were chosen, excellent behavior was achieved in terms of efficiency and robustness with acceptable levels of accuracy. In the present paper, the performance of the described method in combination with another group of integrators, the Implicit Runge-Kutta family (IRK), is analyzed. The purpose is to clarify which kind of IRK algorithms can be more suitable for real-time applications, and to see whether they can be competitive with the already tested structural family of integrators. The final objective of the work is to provide some practical criteria for those interested in achieving real-time performance for large and complex multibody systems.