• Transactions of the Korean Society of Automotive Engineers
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• v.3 no.5
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• pp.90-99
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• 1995

A numerical method is proposed to synthesize automotive cam profiles. An arbitrary acceleration profile for the cam follower motion is divided into several segments, each of them is described by a Hermite curve. A cam profile is defined by control point locations and control variables assigned to each segment. Closed form equations are derived for velocity and displacement constraints which should be satisfied for the curve to be a cam profile. Because the method is flexible and provide arbitrary local controllability, any types of cam acceleration profile can be reproduced by the method. The method is expecially useful for the design of roller type OHC valve trains which need precise local control in the cam profile design to avoid under-cutting problems.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.869-876
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• 2017

Analysis of actuating forces and joint reaction forces are essential to determine the capacity of actuators, to control the mechanical system and to design its components. This paper presents an algorithm that calculates actuating forces(or torques), depending on the various types of driving constraints, in order to produce a given system motion in the joint coordinate space. The joint coordinates are used as the generalized coordinates of a kinematic system. System equations of motion and constraint acceleration equations are transformed from the Cartesian coordinate space to the joint coordinate space using the velocity transformation method. A numerical example is carried out to verify the algorithm proposed.

• Transactions of the Korean Society of Automotive Engineers
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• v.17 no.4
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• pp.63-71
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• 2009

The elastic effects of the valve train components are analyzed by using the finite element models of the rocker arm and valve. The whole equations of motion of the valvetrain of an internal combustion engine formulated by finite element techniques are solved by imposing the contact conditions with the augmented Lagrange multiplier method. The velocity and acceleration constraints as well as the displacement constraints are imposed on the contact points. The numerical simulations show that, even if the magnitude of the elastic deformation of the components is very small, it may have large effects on the valvetrain dynamics of a high-speed engine.

• Proceedings of the Korean Nuclear Society Conference
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• 1997.10a
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• pp.293-298
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• 1997

The H$_{\infty}$robust controller fur the reactor power control system is designed by use of the mixed weight sensitivity. The system is configured into the typical two-port model with which the weight functions are augmented. Since the solution depends on the weighting functions and the problem is of non-convex, the genetic algorithm is used to determine the weighting functions. The cost function applied in the genetic algorithm permits the direct control of the power tracking performances. In addition, the actual operating constraints such as rod velocity and acceleration can be treated as design parameters. Compared with the conventional approach, the controller designed by the genetic algorithm results in the better performances with the realistic constraints. Also, it is found that the genetic algorithm could be used as an effective tool in the robust design. robust design.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.24 no.1
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• pp.45-53
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• 2014

For the time integration solution of the impulsive dynamic contact problem of high-speed rotating disks formulated by the finite element technique, the velocity and acceleration contact constraints as well as the displacement contact constraint are imposed for the numerical stability without spurious oscillations. The solution of the present technique is checked by the numerical simulation using the concentric high-speed rotating disks with the clearance and impulsive loading. It is shown that the almost steady state solution agrees with the corresponding analytical solution of the elasticity and that the differentiated constraints are crucial for the numerical stability of such high-speed contact problems of the disks under impulsive loading.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.5 s.122
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• pp.427-436
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• 2007

The catenary of a high-speed electrical train is modeled by the finite elements with the upper suspension wire, lower contact wire, and droppers, and the dynamic contact between the catenary and the pantograph is numerically analyzed by solving the whole equations of motion of the pantograph and the catenary system subjected to the contact condition. For the stability of the numerical solution, with the cubic spline interpolation of the catenary displacement, the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Through the various numerical examples, it is shown that the dropper positions as well as the static deflection are crucial to determine the contact and separation of the pantograph of a high-speed train.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.148-159
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• 1999

A numerical method is presented for the dynamic analysis of spur gears rotating with very high angular speeds. For an efficient computation each gear is assumed to consist of a rotating rigid disk and an elastic tooth having mass, and finite element formulations are used for the equations of motion of the tooth. The geometric constraint is imposed between the rigid disk and the elastic tooth to fix them, and contact condition is imposed between the meshing teeth of the gears. At each iteration of each time step the Lagrange multiplier and contact force are revised by using the constraint error vector, and then the whole equations of motion are time integrated with the given Lagrange multiplier and contact force. For the accurate solution the velocity and acceleration constraints as well as the displacement constraint are satisfied by the monotone reductions of the constraint error vectors. Computing procedures associated with the iterative schemes are explained and numerical simulations are conducted with the spur gears.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.6 s.111
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• pp.634-642
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• 2006

For the analysis of dynamic contact between a catenary and a pantograph of high-speed electrical train, the numerical solution of the equations of motion of the vehicle pantograph and the catenary system subjected to the contact condition is obtained. The whole equations of motion of the catenary and the pantograph are simultaneously time integrated with the strict application of the contact condition. For the stability of the numerical solution, with the cubic spline interpolation of the catenary displacement, the velocity and acceleration constraints as well as the displacement constraint are imposed on the contact point. Especially it is shown that the Coriolis and centripetal accelerations are critical for the accuracy and stability of the computation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.972-976
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• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.