• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.411-421
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• 2005

The development and implementation of an appropriate methodology for the accurate geometric description of track models is proposed in the framework of multibody dynamics and it includes the representation of the track spatial geometry and its irregularities. The wheel and rail surfaces are parameterized to represent any wheel and rail profiles obtained from direct measurements or design requirements. A fully generic methodology to determine, online during the dynamic simulation, the coordinates of the contact points, even when the most general three dimensional motion of the wheelset with respect to the rails is proposed. This methodology is applied to study specific issues in railway dynamics such as the flange contact problem and lead and lag contact configurations. A formulation for the description of the normal contact forces, which result from the wheel-rail interaction, is also presented. The tangential creep forces and moments that develop in the wheel-rail contact area are evaluated using : Kalker linear theory ; Heuristic force method ; Polach formulation. The methodology is implemented in a general multibody code. The discussion is supported through the application of the methodology to the railway vehicle ML95, used by the Lisbon metro company.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.11
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• pp.1111-1117
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• 2008

During the dynamic analysis of a system, the Coulomb friction law is emploved to calculate the friction force. Since the static friction coefficient is only employed during the zero relative velocity, it is impractical to employ the coefficient during the dynamic analysis. To calculate the static friction force, therefore, some friction models have been developed. In this study, the integration stability and the accuracy of the models are investigated with some numerical examples. The effect of time step size during the numerical integration is also investigated. The numerical study shows that the friction model employed for most commercial codes is not as good as the one proposed in this study.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2001.04a
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• pp.489-494
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• 2001

This paper deals with a dynamic modeling of artillery system loaded by gun charge explosion during firing condition. Geometric and elastic gun data are used to modify a projectile interaction model. The maximum impact force on gun barrel was 15,000 N and the gun barrel moved about 1.3 m. A cannon bal] was presented to travel in the flexible gun, the traveling distance was about 23,000 m, and the angular velocity was about 10rad/sec. The artillery dynamic system using the multi-body dynamics enables us to obtain the data for the fatigue analysis.

• Proceedings of the KSR Conference
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• 2002.10b
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• pp.1094-1099
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• 2002

In this paper, a numerical method for vehicle-track interaction analysis is developed to evaluate vertical dynamic force subjected to rail surface. A vehicle is modelled by lumped masses system and track by multi layered continuous beam system. The equation of motion of vehicle and track interaction system is derived by considering compatibility condition at the contact points between wheel and rail. The input vibration source is given by the empirical formula of power spectral density of track irregularity, which is suggested by FRA. Using this method, dynamic impact factors with the train speed are evaluated.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.539-544
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• 2004

This paper discusses the measurement of tire driving performance for 2 types of tire model. Tire is almost composed of rubber, and this is related with the bearing capacity of tire due to the external force. In this study, an explicit time integration method has been used to simulate steady state rolling along a straight path and over a cleat. And analysis for tire dynamic response rolling over a cleat is importnat to study automobile NVH properties. Besides, the evaluation of contact shear force is perfomed for steady state rolling and braking state. The results show that there are noticeable differences between 205/60R15 and 225/60R15 tire model.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.692-697
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• 2007

The current collection system, pantograph, is one of the important subsystems in electric train system, because of it's fatal function and role of supplying power to the train system. Generally, the function of current collection system is evaluated by loss of contact rate between pantograph and contact wire in catenary by measuring arcs, or by statistical method of evaluating minimum mean contact force. The Korean Tiling Train(TTX) has been manufactured by KRRI and Korean domestic companies and is preparing the trial running test of itself. In this paper, we introduce our successful achievement, measuring system and applied methods of dynamic characteristics for the tilting pantograph, developed of by our own technology.

• Korean Journal of Computational Design and Engineering
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• v.7 no.1
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• pp.1-8
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• 2002

A Hotchkiss spring has been widely utilized for commercial vehicle. Usually, the Hotchkiss spring has non-linear characteristics, i.e. it has a piecewise spring stiffness as well as hysterisis phenomenon. Therefore, the modeling of the Hotchkiss spring requires many considerations to fulfill satisfactory vehicle kinematic and dynamic relationships. Also, the spring has difficulties in modeling for presenting contact mechanism. In this paper, the modeling technique for the Hotchkiss spring has been descried. The modeling covers non-linear characteristics as well as contact problems for multi-body dynamic simulation. The force-displacement results are compared with experimental and FEM ones. Also, the comparison between three link type leaf spring model and proposed one has been considered in this paper.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.596-599
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• 2004

The media transport systems, such as printers, copiers, facsimile, ATMs, cameras, etc., have been widely used and being developed rapidly. In the development of those systems, the media feeding mechanism is an important key technology for the design and development of the media transport systems. In this paper, a multi-degree of freedom sheet model with dynamic contact conditions is presented to understand the mechanism of sticking and jamming. A sheet is modelled as a cantilever beam and the feeding velocity is assumed to be constant. The relation between the feeding velocity and the coefficient of friction for guaranteeing stable feeding is presented. Simulations are performed for a horizontal linear guide and a oblique linear guide, calculating the contact force and contact states of mass points.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.494-497
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• 2004

A dynamic simulation for a high-speed pantograph-overheadline has been performed using mode superposition method to predict contact forces between pantograph and overheadline. We can deal with non-linear dampers of the pantograph and pre-sag of overhead-line for the simulation. But, we can not consider slackness of dropper in the overhead-line. According to the simulation results, the contact forces and displacements are reasonably predicted, compared with other foreign simulation results.

• 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.