• Transactions on Control, Automation and Systems Engineering
• /
• v.2 no.1
• /
• pp.56-61
• /
• 2000

Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which result in the trajectory tracking error in the joint control system. The control performance of a redundant manipulator under independent joint control can be improved by minimizing this joint disturbance torque in resolving the kinematic redundancy. A 3 DOF planar robot is studied as an example, and the dynamic programming method is used to find the globally optimal joint trajectory that minimize the joint disturbance torque over the entire motion. The resulting solution is compared with the solution obtained by the conventional joint torque minimization, and it is shown that joint disturbance can be reduced using the kinematic redundancy.

• Proceedings of the Korean Society For Composite Materials Conference
• /
• 2005.04a
• /
• pp.187-190
• /
• 2005

A simple beam model based on a mixed method is proposed for the analysis of thin-walled composite blades with a two-cell airfoil section. A semi-complementary energy functional is used to obtain the beam force-displacement relations. The theory accounts for the effects of elastic couplings, shell wall thickness, warping, and warping restraint. All the kinematic relations as well as the cross-section stiffnesses are evaluated in a closed-form through the current beam formulation. The theory has been applied to two-cell composite blades with extension-torsion couplings and fairly good correlation has been observed in comparison with a detailed analysis and other literature.

• Smart Structures and Systems
• /
• v.25 no.4
• /
• pp.447-457
• /
• 2020

In this study, a simple two-dimensional shear deformation model is employed for buckling analysis of functionally graded (FG) plates. The proposed theory has a kinematic with integral terms which considers the influence of shear deformation without using "shear correction factors". The impact of varying material properties and volume fraction of the constituent on buckling response of the FG plate is examined and discussed. The benefit of this theory over other contributions is that a number of variables is reduced. The basic equations that consider the influence of transverse shear stresses are derived from the principle of virtual displacements. The analytical solutions are obtained utilizing the "Navier method". The accuracy of the proposed theory is proved by comparisons with the different solutions found in the literature.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.10
• /
• pp.1021-1028
• /
• 2011

The objective of this paper is to optimize the design parameters of a novel mechanism for a robotic knee orthosis. The feature of the proposed knee othosis is to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The quadriceps device operates in five-bar links with 2-DOF motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking. However, the proposed orthosis must use additional linkages than a simple four-bar mechanism. To maximize the benefit of reducing the actuators power by using the developed kinematic design, it is necessary to minimize total weight of the device, while keeping necessary actuator performances of torques and angular velocities for support. In this paper, we use a SGA (Simple Genetic Algorithm) to minimize sum of total link lengths and motor power by reducing the weight of the novel knee orthosis. To find feasible parameters, kinematic constraints of the hamstring and quadriceps mechanisms have been applied to the algorithm. The proposed optimization scheme could reduce sum of total link lengths to half of the initial value. The proposed optimization scheme can be applied to reduce total weight of general multi-linkages while keeping necessary actuator specifications.

• Journal of Mechanical Science and Technology
• /
• v.19 no.11
• /
• pp.2016-2024
• /
• 2005

In this work, a mixed beam approach that combines both the stiffness and the flexibility methods has been performed to analyze the coupled composite blades with closed, two-cell cross-sections. The Reissner's semi-complementary energy functional is used to derive the beam force-displacement relations. Only the membrane part of the shell wall is taken into account to make the analysis simple and also to deliver a clear picture of the mixed method. All the cross section stiffness coefficients as well as the distribution of shear across the section are evaluated in a closed-form through the beam formulation. The theory is validated against experimental test data, detailed finite element analysis results, and other analytical results for coupled composite blades with a two-cell airfoil section. Despite the simple kinematic model adopted in the theory, an accuracy comparable to that of two-dimensional finite element analysis has been obtained for cases considered in this study.

• International Journal of Automotive Technology
• /
• v.7 no.7
• /
• pp.833-839
• /
• 2006

In this paper, roll behavior of three planar half car models are compared. The first model is a simple model whose contact point between a wheel and the ground is assumed to be fixed with a revolute joint. The second model is a modified model of the fIrst model, whose wheel tread width can vary. In this model, the instant center of a wheel with respect to the ground, which is crucial to find the roll center, is assumed to be at the contact point of a wheel and the ground. The last model uses the pole of a wheel with respect to the ground for small displacement as the instant center of a wheel with respect to the ground. Loci of the center of gravity point, the fixed and the moving centrodes which are traces of roll center position in the ground and the body frame respectively, wheel contact points, and instant centers of a wheel with respect to the ground are calculated.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.11 s.176
• /
• pp.182-189
• /
• 2005

The human knee joint is the intermediate joint of the lower limb that is the largest and most complex joint in the body. Understanding of joint-articulating surface motion is essential for the joint wear, stability, mobility, degeneration, determination of proper diagnosis and so on. However, many studies analyzed the passive motion of the lower limb because of the skin marker artefact and some studies described medial and lateral condyle of a femur as a simple sphere due to the complexity of geometry. Thus, in this paper, we constructed a three-dimensional geometric model of the human knee from the geometry of its anatomical structures using non-uniform B-spline surface fitting as a study for the kinematic analysis of more realistic human knee model. In addition, we developed and verified 6-DOF contact model of the human knee joint using $C^2$ continuous surface of the inferior region of a femur, considering the relative motion of shank to thigh during locomotion.

• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.23 no.1
• /
• pp.56-61
• /
• 2015

Because of kinematic complexities, nonlinear behavior, etc, the performance of oleo-pneumatic landing gear is predicted by qualified commercial softwares. While commercial softwares predict more exactly, it takes a long time to construct or modify a model. At initial design stage, design parameters can be determined quickly and exactly enough with simple 2 degree of freedom model of mass, spring and damping. 2 degree of freedom model can be easily applied to optimization and reliability analysis which takes repetitive computation. In this paper, oleo-pneumatic landing gear is modeled as a nonlinear 2 degree of freedom model. The analysis are compared with landing gear drop test. To determine design parameter, optimization problem is solved with genetic algorithm and 2 degree of freedom model.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.37 no.10
• /
• pp.1239-1249
• /
• 2013

In this study we establish a process to predict hardening behavior considering the Bauschinger effect for zircaloy-4 sheets. When a metal is compressed after tension in forming, the yield strength decreases. For this reason, the Bauschinger effect should be considered in FE simulations of spring-back. We suggested a suitable specimen size and a method for determining the optimum tightening torque for simple shear tests. Shear stress-strain curves are obtained for five materials. We developed a method to convert the shear load-displacement curve to the effective stress-strain curve with FEA. We simulated the simple shear forward/reverse test using the combined isotropic/kinematic hardening model. We also investigated the change of the load-displacement curve by varying the hardening coefficients. We determined the hardening coefficients so that they follow the hardening behavior of zircaloy-4 in experiments.

• Journal of Biomedical Engineering Research
• /
• v.24 no.3
• /
• pp.209-215
• /
• 2003

The goal of this study was to investigate the relationship between kinematic and kinetic characteristics of foot joints resisting ground reaction force. Passive elastic joint moment and angular displacement were obtained from the experiment using 3 cameras and force plate. The relationship between joint angle and moment was mathematically modeled by using least square method. The ranges of motion of joints ranged from 5$^{\circ}$ to 7$^{\circ}$ except metatarsophalangeal joint. In the study, we presented simple mathematical models that could relate joint angle and plantar pressure. From this model, we can got the kinematic data of joints which is not available from conventional motion analysis. Furthermore, the model can be used not only for biomechanical model which simulates gait but also for clinical evaluation.