• 대한기계학회논문집
• /
• 제17권6호
• /
• pp.1509-1517
• /
• 1993

본 연구에서는 3차원 운동을 하는 다물체 기구가 물체 수와 조인트 연결상태 만 주어진 상태에서 구성상태에 따라 절점 좌표계를 이용하여 모델링하고 MACSYMA를 써서 복잡단조로운 대수 계산을 하여 모든 운동학적 정보를 얻어내며 수치계산이 필요 하면 별도의 프로그램을 이용 수치해석을 하는 과정을 밟는다.

• Journal of Mechanical Science and Technology
• /
• 제17권9호
• /
• pp.1287-1296
• /
• 2003

In this paper the dynamic analysis of the Macpherson strut motor-vehicle suspension system is presented. The equations of motion are formulated using a two-step transformation. Initially, the equations of motion are derived for a dynamically equivalent constrained system of particles that replaces the rigid bodies by applying Newton's second law The equations of motion are then transformed to a reduced set in terms of the relative joint variables. Use of both Cartesian and joint variables produces an efficient set of equations without loss of generality For open chains, this process automatically eliminates all of the non-working constraint forces and leads to an efficient solution and integration of the equations of motion. For closed loops, suitable joints should be cut and few cut-joints constraint equations should be included for each closed chain. The chosen suspension includes open and closed loops with quarter-car model. The results of the simulation indicate the simplicity and generality of the dynamic formulation.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1992년도 추계학술대회 논문집
• /
• pp.339-343
• /
• 1992

For the analysis of dynamic behavior of dynamic behavior of multibody systems by cartesian coordinate method, maximal sets of generalized coordinates and maximum numbers of differential equation and constraints must be considered. Therefore the inefficiency of the increase of CPU time is occurred. This paper is to analyze the dynamic system by using the relative coordinate method without violating the geometric condition of systems. The graph theory and system topology were used for this study. The dynamic systems could be analyzed by the automatic generation of the informations like equation of motion, constraints, and external forces etc. And the results were compared and verified with dynamic commercial package DADS.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1996년도 추계학술대회 논문집
• /
• pp.891-895
• /
• 1996

Performance and efficiency of hybrid (hydraulic-mechanical) pick-up device of deep sea manganese nodules collector are very sensitive to altitude and altitude of pick-up head relative to undulating seafloor. For this reason, motion control of pick-up head relative to the changing deep sea topography and other disturbances is of particular importance in design of pick-up device. The concept of design axiom is applied to a pick-up device of hybrid type. Kinematic analysis conducted in absolute Cartesian coordinates gives position, velocity, and acceleration of the hydraulic cylinders which enable the pick-up head to keep the preset optimal distance from seafloor. Inverse dynamic analysis provides the driving forces of hydraulic cylinders and the reaction forces at each joint. Design sensitivity analysis is performed in order to investigate the effects of possible design variables on the change of the maximum strokes of hydraulic cylinders. The direct differentiation method is used to obtain the design sensitivity coefficients.

• 한국정밀공학회지
• /
• 제15권3호
• /
• pp.68-74
• /
• 1998

Performance and efficiency of deep seabed collector is a primary factor for feasibility of commercial deep ocean mining. The efficiency of manganese nodules collector depends on vehicle mobility relative to undulating seafloor and is attributed pickup head to keep altitude and elevation of it against seafloor. For this reason, motion control of pickup head relative to the changing deep-sea topography and other disturbances is of particular importance in design of pickup device. The concept of design axiom is applied to a pickup device of hybrid type in order to evaluate the concept design. Kinematic analysis conducted in absolute Cartesian coordinates gives position, velocity, and acceleration of the hydraulic cylinders which enable the pickup head to keep the preset optimal distance from seafloor. Inverse dynamic analysis provides the driving forces of hydraulic cylinders and the reaction forces at each joint. Design sensitivity analysis is performed in order to investigate the effects of possible design variables on the change of the maximum strokes of hydraulic cylinders. The direct differentiation method is used to obtain the design sensitivity coefficients.

• 대한의용생체공학회:의공학회지
• /
• 제13권2호
• /
• pp.87-96
• /
• 1992

In thIns paper, a numerical simulation of steady laminar and turbulent flow in a two dimensional model for the total artificial heart is'presented. A trlleaflet polyurethane valve was simulated at the outflow orifice while the Inflow orifice had a trileaflet or a flap valve. The finite analytic numerical method was employed to obtain solutions to the governing equations in the Cartesian coordinates. The closure for turbulence model was achieved by employing the k-$\varepsilon$-E model. The SIMPLER algo rithm was used to solve the problem in primitive variables. The numerical solutions of the slulated model show that regions of relative stasis and trapped vortices were smaller within the ventricular chamber with the flap valve at the Inflow orifice than that with the trileaflet valve. The predicted Reynolds stresses distal to the inflow valve within the ventricular chamber were also found to be smaller wlth the flap valve than with the trlleaflet valve. These resu1ts also suggest a correlation be- tween high turbulent stresses and the presence of thrombus In the vicinity of the valves in the total artificial hearts. The computed velocity vectors and trubulent stresses were comparable with previ ously reported in vitro measurements in artificial heart chambers. Analysis of the numerical solo talons suggests that geometries similar to the flap valve(or a tilting disc valve) results in a better flow dynamics within the total artificial heart chamber compared to a trileaflet valve.