• International Journal of Precision Engineering and Manufacturing
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• v.2 no.1
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• pp.5-10
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• 2001

A method is proposed to obtain the Jacobian matrix of the 5 -bar parallel manipulator by employing the orthogonality between position and velocity vectors of rotating rigid-body around a fixed point. The dynamics of the 5-bar parallel manipulator is analyzed and utilized to design the computed-torque controller by developing a transformation matrix of the passive joints with respect to the active ones. In experimental demonstration, it shows that high-speed and accuracy tasks are performed by the proposed computed-torque control.

• Bulletin of the Korean Chemical Society
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• v.23 no.3
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• pp.441-446
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• 2002

We have presented the results of thermodynamic, structural and dynamic properties of liquid benzene, toluene, and p-xylene in canonical (NVT) ensemble at 293.15 K by molecular dynamics (MD) simulations. The molecular model adopted for these molecules is a combination of the rigid body treatment for the benzene ring and an atomistically detailed model for the methyl hydrogen atoms. The calculated pressures are too low in the NVT ensemble MD simulations. The various thermodynamic properties reflect that the intermolecular interactions become stronger as the number of methyl group attached into the benzene ring increases. The pronounced nearest neighbor peak in the center of mass g(r) of liquid benzene at 293.15 K, provides the interpretation that nearest neighbors tend to be perpendicular. Two self-diffusion coefficients of liquid benzene at 293.15 K calculated from MSD and VAC function are in excellent agreement with the experimental measures. The self-diffusion coefficients of liquid toluene also agree well with the experimental ones for toluene in benzene and for toluene in cyclohexane.

• Proceedings of the KSME Conference
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• 2004.04a
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• pp.751-755
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• 2004

This paper presents a simplified dynamics of railway vehicle for a tilting train simulator. The tilting train simulator has 6 electric-driven actuators and a visualization system with 1600mm-diameter dome screen. The each system shares the data by ethernet. In order to analyze the dynamics of railway vehicle and transfer the results of the analysis to the other system of the tilting train simulator in realtime base, We assumed the tilting train as a simplified rigid body model with primary and secondary suspensions. The simplified vehicle model has a 17-DOF. Through the running analysis on the tight curve with various radius, we verified the simplified vehicle model.

• Journal of the Korean Magnetic Resonance Society
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• v.20 no.4
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• pp.102-108
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• 2016

With the rapid increase of data on protein-protein interactions, the need for delineating the 3D structures of huge protein complexes has increased. The protocols for determining nuclear magnetic resonance (NMR) structure can be applied to modeling complex structures coupled with sparse experimental restraints. In this report, I suggest the use of multiple rigid bodies for improving the efficiency of NMR-assisted structure modeling of huge complexes using CYANA. By preparing a region of known structure as a new type of residue that has no torsion angle, one can facilitate the search of the conformational spaces. This method has a distinct advantage over the rigidification of a region with synthetic distance restraints, particularly for the calculation of huge molecules. I have demonstrated the idea with calculations of decaubiquitins that are linked via Lys6, Lys11, Lys27, Lys29, Lys33, Lys48, or Lys63, or head to tail. Here, the ubiquitin region consisting of residues 1-70 was treated as a rigid body with a new residue. The efficiency of the calculation was further demonstrated in Lys48-linked decaubiquitin with ambiguous distance restraints. The approach can be readily extended to either protein-protein complexes or large proteins consisting of several domains.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.874-880
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• 2003

Many mechanical systems are over-constrained if only rigid bodies are used to model the system. One example of such system is a satellite system with solar panels. To avoid this over-constrained problem, solar panels can be modeled as flexible bodies. The CMS(Component Mode Synthesis) method is widely used to analyze the flexible multi-body system because it can considerably approximate the deformation of the flexible bodies using small number of well-selected mode. However, it is very difficult to decide the boundary condition and the selection of modes. In this paper, the methods for mode synthesis and setting the boundary condition are presented to analyze the flexible multi-body system with over-constraints. Finally, the reliability of proposed method is verified by solar panel's deployment test.

• Transactions of the Korean Society of Automotive Engineers
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• v.20 no.3
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• pp.67-76
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• 2012

In this paper, collision analysis of the full rake for the Next Generation High-speed EMU is conducted using a 3D/1D hybrid model, which combines 3-dimensional (3D) front-end structure of finite element model and 1-dimensional (1D) multi-body dynamics model in order to analyze train collision with a standard 3D deformable obstacle. The crush forces, passengers' accelerations and energy absorptions of a full rake train can be easily obtained through a simulation of a 1D dynamics model composed of nonlinear springs, dampers and masses. Also the obtained simulation results are very similar to those of a 3D model if an overriding behavior does not occur during collision. The standard obstacle in TSI regulation has been changed from a rigid body to a deformable body, and therefore 3D collision simulations should be conducted because their simulation results depends on the front-end structure of a train. According to the obstacle collision analysis of this study, the obstacle collides with the driver's upper structure after overriding over the front-end module. The 3D/1D hybrid model is effective to evaluate a main energy-absorbing module that is frequently changed during design process and reduce the need time of the modeling and analysis when compared to a 3D full car body.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.3
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• pp.394-406
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• 2015

In this work, an efficient aircraft landing simulation strategy is proposed to develop an efficient and reliable hard-landing monitoring procedure. Landing stage is the most dangerous moment during operation cycle of aircraft and it may cause structural damage when hard-landing occurs. Therefore, the occurrence of hard-landing should be reported accurately to guarantee the structural integrity of aircraft. In order to accurately determine whether hard-landing occurs or not from given landing conditions, full nonlinear structural dynamic simulation can be performed, but this approach is highly time-consuming. Thus, a more efficient approach for aircraft landing simulation which uses a hierarchical aircraft landing model and an extended inertia relief technique is proposed. The proposed aircraft landing model is composed of a multi-body dynamics model equipped with landing gear and tire models to extract the impact force and inertia force at touch-down and a linear dynamic structural model with an extended inertia relief method to analyze the structural response subject to the prescribed rigid body motion and the forces extracted from the multi-body dynamics model. The numerical examples show the efficiency and practical advantages of the proposed landing model as an essential component of aircraft hard-landing monitoring procedure.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.2
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• pp.97-108
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• 2015

In the design of sailing yachts, para-glider, or high-sky wind power, etc., the analysis of side-wind aerodynamic forces exerted on a cambered 3-D model is very important to predict the performance of various machinery systems. To understand the essential flow physics around the three-dimensional shape, simplified rigid-body models are proposed in this study. Four parameters such as free stream velocity, angle of attack, aspect ratio, and camber are considered as the independent variables. Lift and drag coefficients are computed with CFD technique using ANSYS-CFX, and the results with the visualization of post-processed flow fields are analyzed in the viewpoint of fluid dynamics.

• Journal of the Society of Naval Architects of Korea
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• v.53 no.5
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• pp.388-399
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• 2016

A motion analysis of an underwater towed cable is a complex task due to its nonlinear nature of the problem. The major source of the nonlinearity of the underwater cable analysis is that the motion of the cable involves large rigid-body motion. This large rigid-body motion makes difficult to use standard displacement-based finite element method. In this paper, the authors apply recently developed nodal position-based finite element method which can deal with the geometric nonlinearity due to the large rigid-body motion. In order to enhance the stability of the large-scale nonlinear cable motion simulation, an efficient time-integration scheme is proposed, namely predictor/multi-corrector Newmark scheme. Three different predictors are introduced, and the best predictor in terms of stability and robustness for impulsive cable motion analysis is proposed. As a result, the nonlinear motion of underwater cable is predicted in a very efficient manner compared to the classical finite element of finite difference methods. The efficacy of the method is demonstrated with several test cases, involving static and dynamic motion of a single cable element, and also under water towed cable composed of multiple cable elements.

• Structural Engineering and Mechanics
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• v.54 no.5
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• pp.909-922
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• 2015

The dynamic response and the mooring line tension of a 1/75 scale model of spar-type platform for 2.5 MW floating offshore wind turbine subject to one-dimensional regular harmonic wave are investigated numerically and verified by experiment. The upper part of wind turbine which is composed of three rotor blades, hub and nacelle is modeled as a lumped mass the scale model and three mooring lines are pre-tensioned by means of linear springs. The coupled fluid-rigid body interaction is numerically simulated by a coupled FEM-cable dynamics code, while the experiment is performed in a wave tank with the specially-designed vision and data acquisition system. The time responses of surge, heave and pitch motions of the scale platform and the mooring line tensions are obtained numerically and the frequency domain-converted RAOs are compared with the experiment.