• Journal of the Society of Naval Architects of Korea
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• v.47 no.1
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• pp.47-57
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• 2010

This study analyzes the dynamic response of a floating crane with a cargo considering an elastic boom to evaluate(or for evaluation of) its flexibility effect on their dynamic response. Flexible multibody system dynamics is applied in order to establish a dynamic equation of motion of the multibody system, which consists of flexible and rigid bodies. In addition, a floating reference frame and nodal coordinates are used to model the boom as a flexible body. The study also simulates the coupled surge, pitch, and heave motions of the floating crane carrying the cargo with three degrees of freedom by numerically solving the equation. Finally, the simulation results of the elastic and rigid booms are comparatively analyzed and the effects of the flexible boom are discussed.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.8
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• pp.194-204
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• 2003

A Web-based dynamic simulation system, called O-DYN, for multibody dynamic systems is developed. All the interfaces of the system are accessible via Web browsers, such as Netscape or Explorer. The system uses a block-diagram type O-DYN/Modeler developed in JAVA Applet as a preprocessor. The O-DYN postprocessor composed of O-DYN/Plotter and O-DYN/Animator is developed in JAVA Applet. The O-DYN/Solver for predicting the dynamic behavior is run on the server. Anyone who wants to simulate the dynamics of multibody systems or share results data can access the analysis system over the Internet regardless of their OS, platform, or location.

• Composites Research
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• v.36 no.2
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• pp.108-116
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• 2023

In this paper, kinematic design and multi-body dynamics analysis were conducted to develop a small manipulator platform for automating the maintenance of structures made of composite materials. To design manipulator kinematically, the existing composite repair process was considered. The 3D design was conducted after selecting the basic specifications of manipulator and end-effecter in consideration of the patch lamination process for repair. Then, variables necessary for simulation and control were generated in MATLAB through inverse kinematic analysis. To evaluate the structural stability of platform, multibody dynamics analysis was conducted using Altair Inspire and Optistruct. Based on the simulation conducted in Inspire, multibody dynamics analysis was conducted in Optistruct, and structural stability was verified through the results of maximum displacement and Von-Mises stress over time. To verify the design, manufacturing and controlling of platform were conducted and compared with the simulation. It was confirmed that the actual repair process path and the simulation showed a good agreement.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.4_2
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• pp.943-951
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• 2024

This paper considers the simulation-based installation and operation safety analysis of installation and operation machinery of USBL as underwater equipment in operation environments. The simulation model of this mechanical system was developed using flexible multibody dynamics simulation technology. Operation and environmental conditions were applied using dynamic forces model considering ocean environments. The developed simulation model was used to evaluate operation safety through eigenvalue analysis, dynamic forces analysis, and structural analysis. As the analysis results, the operation safety was very low in extreme operation condition due to increase of dynamic loads by VIV effect. It was not a problem because safety factor had more than 2.0 in this case. However, the operation safety should be further strengthened because the USBL and LARS was installed and utilized in unmanned vessel with automatic controls. In order to improve safety by avoiding VIV frequency, we redesigned the USBL pole.

• 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.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.233-239
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• 2020

The aims of this paper is to develop a modular agricultural robot and its autonomous driving algorithm that can be used in field farming. Actually, it is difficult to develop a controller for autonomous agricultural robot that transforming their dynamic characteristics by installation of machine modules. So we develop for the model based control algorithm of rotary machine connected to agricultural robot. Autonomous control algorithm of agricultural robot consists of the path control, velocity control, orientation control. To verify the developed algorithm, we used to analytical techniques that have the advantage of reducing development time and risks. The model is formulated based on the multibody dynamics methods for high accuracy. Their model parameters get from the design parameter and real constructed data. Then we developed the co-simulation that is combined between the multibody dynamics model and control model using the ADAMS and Matlab simulink programs. Using the developed model, we carried out various dynamics simulation in the several rotation speed of blades.

• 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.

• Korean Journal of Computational Design and Engineering
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• v.21 no.4
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• pp.409-416
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• 2016

This study aims to investigate dynamic interaction characteristics between Maglev train and 3 span continuous guideway. The integrated model including a 3D full vehicle model based on multibody dynamics, flexible guideway by a modal superposition method, and levitation electromagnets with the feedback controller is proposed. The proposed model was applied to the Incheon Airport Maglev Railway to analyze the dynamic response of the vehicle and guideway from the numerical simulation. Using field test data of air gap and guideway deflections, obtained from the Incheon Airport Maglev Railway, the analysis method is verified. From the results, it is confirmed that Maglev railway system are designed and constructed safely according to the design criteria.

• 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 Mechanical Science and Technology
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• v.15 no.8
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• pp.1090-1096
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• 2001

In this paper, new methods for efficiently solving linear acceleration equations of multibody dynamic simulation exploiting sparsity for real-time simulation are presented. The coefficient matrix of the equations tends to have a large number of zero entries according to the relative joint coordinate numbering. By adequate joint coordinate numbering, the matrix has minimum off-diagonal terms and a block pattern of non-zero entries and can be solved efficiently. The proposed methods, using sparse Cholesky method and recursive block mass matrix method, take advantages of both the special structure and the sparsity of the coefficient matrix to reduce computation time. The first method solves the η$\times$η sparse coefficient matrix for the accelerations, where η denotes the number of relative coordinates. In the second method, for vehicle dynamic simulation, simple manipulations bring the original problem of dimension η$\times$η to an equivalent problem of dimension 6$\times$6 to be solved for the accelerations of a vehicle chassis. For vehicle dynamic simulation, the proposed solution methods are proved to be more efficient than the classical approaches using reduced Lagrangian multiplier method. With the methods computation time for real-time vehicle dynamic simulation can be reduced up to 14 per cent compared to the classical approach.