• Journal of the Korean Society of Safety
• /
• v.25 no.3
• /
• pp.7-14
• /
• 2010

In order to analyze the vibro-impacts in the torsional system, several clearance types of nonlinearities should be included with the analytical or numerical method. These kinds of nonlinear factors can cause the errors while the system is calculated specifically with the numerical method, also it might take too long to get right answers with the every nonlinearity in the original system. Therefore, there are several methods developed for the sake of overcoming the deficiency of the analysis with the original system and saving the calculating time. The original system can be reduced by keeping the system characteristics such as from 14 to 6 DOF. Especially, since the torque flow in the torsional system is connected with the specific gear ratios, the original system can be transferred into the simpler system corresponding to each gear ratio rather than the original system, which can also show the same system characteristics such as the natural frequencies and the mode shapes. By using the reduced system, the calculating time can be saved and the redundant nonlinear effects for the system analysis can be ignored without any numerical errors.

• Journal of the Korea Convergence Society
• /
• v.9 no.11
• /
• pp.291-297
• /
• 2018

Due to difficulty in minimally invasive surgery, training simulator is actively researched. A volumetric deformable organ is created by employing a shape-retaining chain-linked (S-chain) model to realize positioning a human organ model in virtual space. Since the main principle of the S-chain algorithm is that the repulsive force is proportional to the number of chain elements, the calculation time can be increased according to the magnitude of deformation. In this work, the advanced S-chain algorithm is used to calculate the repulsive torque according to spin motion. Finally, haptic architecture was constructed using this S-chain model by incorporating the virtual organ with a real master device, which allows the repulsive force and target position to be transferred to each other. The control performance of S-chain algorithm has been evaluated via experiment.