• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.5
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• pp.642-648
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• 2008

A lot of researches on the redundant manipulators have been focused mainly on the minimization of joint torques. However, it is well-known that the most dynamic control algorithms using local joint torque minimization cause huge torques which can not be implemented by practical motor drivers. A new control algorithm which reduces considerably such a huge-required-torque problem is proposed in this paper. It adapts fuzzy logic and genetic algorithm to the conventional local joint torque minimization algorithm. The proposed algorithm is applied to a 3-DOF redundant planar robot. Simulation results show that the proposed algorithm works well.

• Journal of Biosystems Engineering
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• v.40 no.4
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• pp.305-313
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• 2015

Purpose: This study was performed to predict the fatigue life of a crank-type rotavator operated in domestic soil conditions using Recurdyn$^{(R)}$, a dynamic analysis program. Methods: Torque on the PTO shaft was measured using experiments conducted on the uplands and paddy fields in Korea. On the basis of the experimental and analytical results, the fatigue life of the crank-type rotavator was predicted by constructing an S-N curve according to the GL (Germanischer Lloyd Wind Energie GmbH) guideline. Results: The torques experienced by the PTO shaft in the paddy soil and the uplands were in the range of 472~797 N m and 313~430 N m, respectively, for every condition. In case of load condition, the peak torques (846 N m, 770 N m) were applied for severe conditions, resulting in a maximum (von Mises) stress of 75 MPa at the crank arm. The fatigue life of the crank-type rotavator was predicted to be 1,167 h that satisfies the target value of 1,110 h, by substituting the analysis results into an S-N curve of crank arm. Conclusions: The fatigue life of the crank-type rotavator was within the target life for the studied soil conditions; however, further field experiments for various soil conditions would be required to verify the prediction results.

• Journal of KSNVE
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• v.10 no.3
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• pp.465-473
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• 2000

In this crankshaft of marine diesel engines the exciting torques are produced by gas pressure and reciprocating masses. These torques are periodically changing and are extremely out of balance. To calculate the torsional vibrations of propulsion shafting caused by unbalanced torque the torque harmonics are utilized. Until now to calculate the torsional vibrations of propulsion shafting. the torque harmonics have been supplied by the engine maker. When the torque harmonics of an engine are not available the torque harmonics of a similar engine type had to be used. However such data is not suitable for the reliable calculations of torsional vibrations. In this paper the combustion characteristics of marine diesel engines including $\rho{-}\upsilon$ diagram are investigated and the torque harmonics based on these are theoretically calculated. reliability of the calculations is confirmed by comparing them with those of an engine maker. This study should prove useful for the calculations of torsional vibrations for diesel engine propulsion shafting. particularly for 4-stroke engines whose torque harmonics are difficult to obtain directly from the engine and not ordinarily supplied by the engine maker.

• Journal of the Korea Computer Industry Society
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• v.5 no.9
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• pp.993-1004
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• 2004

We propose the method for kinematic and dynamic modeling and Path-tracking of four-wheeled mobile robots with 2 d.o.f having the limited drive-torques. Controllability of wheeled-mobile robots is revealed by using the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that the method proposed by this paper is efficient.

• Journal of Applied Reliability
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• v.11 no.4
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• pp.331-342
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• 2011

The transmission of tracked vehicles performs complex functions as steering, shifting, braking, etc. and the system level life time has been a key influenced by the number of sub-parts like as gear assembly, torque converter, clutches, bearings and so on. In particular, the mechanical type steering system in tracked vehicle has impact shock torques in steering shift and those kind of shock torques can effect on the durability of many sub-parts in power train system. The field failure modes of gear assembly, steering assembly and the bearings of output shaft appear as a very complex phenomenon. In this study, the actual failure, which may occur in field, of the transmission was investigated comprehensively and that the endurance test on the resulting output shaft bearing failure analysis and life assessment was performed. Life time test method used in this study, developed for the purpose of the internal usage, and under these testing techniques the impact of the each bearing damage, which used in tracked vehicle transmission left / right outputs of different structures, was analyzed.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.4
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• pp.508-519
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• 2018

This paper concerns on stabilization control of a gyro-stabilized 2-axes gimbal system which is mounted on a moving vehicles such as automobiles, armored vehicles, ships, flying vehicles, etc. A target image acquisition system is attached on the inner gimbal, and the gimbal systems are required to retain high stabilization accuracy in the absolute coordinate in order to provide fine target image while vehicle is moving. The stabilization control performance is hardly depended upon disturbance rejection ability of control, and disturbance feedforward compensation is effective because feedforward compensation reduce the amount of disturbance before the disturbance disturbs the systems. This paper suggests an experimental method which can estimate system parameters and disturbance torques by using 3-axes accelerometer mounted on the inner gimbal. Furthermore, a simple disturbance identification method which can be applied to any slanted base conditions has been suggested to identify mass unbalance vector and friction torques of each gimbal simultaneously. By using the estimated parameters, a feedforward compensation has been applied to the gyro-stabilized 2-axes gimbal system. The experimental results showed that the feedforward compensation based on the identification method suggested is effective to improve stabilization performances.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• Korean Journal of Computational Design and Engineering
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• v.17 no.1
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• pp.62-70
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• 2012

This paper proposes a novel discomfort assessment method for truck ingress and egress motions based on the maximum-voluntary-contraction (MVC) ratios of muscles obtained by biomechanical analysis of human musculoskeletal models. In this study, a human motion to enter and exit a truck cabin with different types and heights of footsteps is first measured using an optical motion capture system and load sensors. Next, in a biomechanical analysis system, a human musculoskeletal model with contacting conditions on footsteps and handles is modeled, and then joint torques and muscles forces are calculated by inverse dynamics of the musculoskeletal model with the motion data. Finally, the MVC ratios for the muscles are calculated and their statistical values are used as the measure of discomfort. To ensure the feasibility of our method, subjective discomfort levels have been investigated through the participants' experiments and questionnaires and compared to the results of our method. Comparing to the existing methods based on joint angles or torques, our approach provide a more essential criterion for discomfort because it is based on the muscle contraction by which an active human motion is basically generated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.1
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• pp.27-33
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• 2009

Human postural responses appeared to have stereotyped modality, such as ankle mode, knee mode and hip mode in response to various perturbations. We examined whether human postural control gain of full-state feedback could be decoupled along with the eigenvector. To verify the model, postural responses subjected to fast backward perturbation were used. Upright posture was modeled as 3-segment inverted pendulum incorporated with feedback control, and joint torques were calculated using inverse dynamics. Postural modalities such as ankle, knee and hip mode were obtained from eigenvectors of biomechanical model. As oppose to the full-state feedback control, independent eigenvector control assumes that modal control input is determined by the linear combination of corresponding modality. We used optimization method to obtain and compare the feedback gains for both independent eigenvector control and full-state feedback control. As a result, we found that simulation result of eigenvector feedback was not competitive in comparison with that of full-state feedback control. This implies that the CNS would make use of full-state body information to generate compensative joint torques.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.06a
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• pp.149-153
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• 2005

Marine Propulsion shafting system coupled with medium diesel engine forms multi-degree torsional vibration system which consist of many inertia masses such as crank, flywheel, propeller and sometimes gear system is adopted additionally for the purpose of improving propeller's propulsion efficiency or connecting with PTO/PTI. The periodic excitation torques generated by combustion pressure in cylinder and reciprocating masses induce various kinds of vibrations in this shafting system. If the frequency of this excitation torques is equal to the natural frequency of the shafting, the amplitude of the torsional vibration increases steeply and the damage of crankshaft or gears may be occurred by that. This frequency is called critical speed. When making a plan for shafting system, it is important for this frequency to be expected exactly and not to be in commonly used speed. For this reason, this paper introduces the experimental equipment for torsional vibration of marine propulsion shafting system and describes the theoretic and the experimental methods to look for natural frequencies.