• 제목/요약/키워드: dynamic equations of motion

검색결과 878건 처리시간 0.026초

Dynamics of the Macpherson Strut Motor-Vehicle Suspension System in Point and Joint Coordinates

  • Attia, Hazem-Ali
    • Journal of Mechanical Science and Technology
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    • 제17권9호
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    • pp.1287-1296
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    • 2003
  • In this paper the dynamic analysis of the Macpherson strut motor-vehicle suspension system is presented. The equations of motion are formulated using a two-step transformation. Initially, the equations of motion are derived for a dynamically equivalent constrained system of particles that replaces the rigid bodies by applying Newton's second law The equations of motion are then transformed to a reduced set in terms of the relative joint variables. Use of both Cartesian and joint variables produces an efficient set of equations without loss of generality For open chains, this process automatically eliminates all of the non-working constraint forces and leads to an efficient solution and integration of the equations of motion. For closed loops, suitable joints should be cut and few cut-joints constraint equations should be included for each closed chain. The chosen suspension includes open and closed loops with quarter-car model. The results of the simulation indicate the simplicity and generality of the dynamic formulation.

자유-자유보의 동적해석에 대한 섭동법의 적용 (Application of Perturbation Method to the Dynamic Analysis of Free-free Beam)

  • 곽문규
    • 한국소음진동공학회논문집
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    • 제15권1호
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    • pp.46-52
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    • 2005
  • This paper is concerned with the application of perturbation method to the dynamic analysis of free-free beam. In general, the rigid-body motions and elastic vibrations are analyzed separately. However, the rigid-body motions cause vibrations and elastic vibrations also affect rigid-body motions in turn, which indicates that the rigid-body motions and elastic vibrations are coupled in nature. The resulting equations of motion are hybrid and nonlinear. We can discretize the equations of motion by means of admissible functions but still we have to cope with nonlinear equations. In this paper, we propose the use of perturbation method to the coupled equations of motion. The resulting equations consist of zero-order equations of motion which depict the rigid-body motions and first-order equations of motion which depict the perturbed rigid-body motions and elastic vibrations. Numerical results show the efficacy of the proposed method.

로보트 팔의 제어를 위한 Dynamics 방정식들에 관한 연구 (A study on dynamic motion equations for a robot manipulator)

  • 김승배;오세정;박인갑;김형래
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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    • pp.52-57
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    • 1987
  • In this paper, it is dealt with the dynamic motion equations for a robot arm. Four kinds of the dynamic equations which are the Lagrange-Euler equations, the Recursive L-E equations, the Newton-Euler equations and the improved N-E equation are derived on robot PUMA 600. Finally the algorithms on these equations are programmed using PASCAL. and are compared with each other. As the results, it is found that the improved N-E equations has the most fastest execution time among the equations and can be used in real time processing.

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틸팅 운동을 고려한 유체 동압 베어링의 안정성 해석 (Stability Analysis of a Fluid Dynamic Journal Bearing Considering the Tilting Motion)

  • 김명규;장건희
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2008년도 추계학술대회논문집
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    • pp.394-400
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    • 2008
  • This paper presents an analytical method to investigate the stability of FDBs (fluid dynamic bearings) considering the tilting motion. The perturbed equations of motion are derived with respect to translational and tilting motion for the general rotor-bearing system with five degrees of freedom. The Reynolds equations and their perturbed equations are solved by using the FEM in order to calculate the pressure, load capacity, and the stiffness and damping coefficients. This research introduces the radius of gyration to the equations of notion in order to express the mass moment of interia with respect to the critical mass. Then the critical mass of FDBs is determined by solving the eigenvalue problem of the linear equations of motion. This research is numerically validated by comparing the stability chart of FDBs with the time response of the whirl radius obtained from the direct integration of the equations of motion. This research shows that the tilting motion is one of the major design considerations to determine the stability of rotating system. It also shows that the stability of FDBs considering only translation is overestimated in comparison with the stability of FDBs considering both translational and tilting motion.

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사각보행기의 고속 보행제어를 위한 동적 모델링 및 해석 (A Dynamic Modeling and Analysis for High-speed Walking of a Quadrupedal Robot)

  • 강성철;유홍희;김문상;이교일
    • 대한기계학회논문집A
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    • 제21권5호
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    • pp.756-768
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    • 1997
  • In order to control a dynamic gait of quadrupedal walking robot, the equations of motion of the whole mechanism are required. In this research, the equations of motion are formulated analytically using Kane's dynamic approach. As a dynamic gait model, a trot gait has been adopted. The degree of freedom of whole mechanism could be reduced to 7 by idealizing the kinematic feature of the trot gait. Using the equations of motion formulated, the results of the redundant-joint torque analysis and the simulation of dynamic walking motion are presented.

자유-자유보의 동적해석에 대한 섭동법의 적용 (Application of Perturbation Method to the Dynamic Analysis of Free-free Beam)

  • 곽문규
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2004년도 추계학술대회논문집
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    • pp.300-306
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    • 2004
  • This paper is concerned with the application of perturbation method to the dynamic analysis of free-free beam. In general, the rigid-body motions and elastic vibrations are analyzed separately. However, the rigid-body motions cause vibrations and elastic vibrations also affect rigid-body motions in turn, which indicates that the rigid-body motions and elastic vibrations are coupled in nature. The resulting equations of motion are hybrid and nonlinear. We can discretize the equations of motion by means of admissible functions but still we have to cope with nonlinear equations. In this paper, we propose the use of .perturbation method to the coupled equations of motion. The resulting equations consist of zero-order equations of motion which depict the rigid-body motions and first-order equations of motion which depict the perturbed rigid-body motions and elastic vibrations. Numerical results show the efficacy of the proposed method.

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섭동법을 이용한 우주 구조물의 동적 운동 해석 (Dynamic Analysis of Space Structure by Using Perturbation Method)

  • 곽문규;성관제
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2005년도 춘계학술대회논문집
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    • pp.674-679
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    • 2005
  • This paper is concerned with the application of perturbation method to the dynamic analysis of space structure floating in space. In dealing with the dynamics of space structure, the use of Lagrange's equations of motion in terms of quasi-coordinates were suggested to derive hybrid equations of motion for rigid-body translations and elastic vibrations. The perturbation method is then applied to the hybrid equations of motion along with discretization by means of admissible functions. This process is very tiresome. Recently, a new approach that applies the perturbation method to the Lagrange's equations directly was proposed and applied to the two-dimensional floating structure. In this paper, we propose the application of the perturbation method to the Lagrange's equations of motion in terms of quasi-coordinates. Theoretical derivations show the efficacy of the proposed method.

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섭동법을 이용한 우주 구조물의 동적 운동 해석 (Dynamic Analysis of Space Structure by Using Perturbation Method)

  • 성관제;곽문규
    • 한국소음진동공학회논문집
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    • 제15권9호
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    • pp.1030-1036
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    • 2005
  • This paper is concerned with the application of perturbation method to the dynamic analysis of space structure floating in space. In dealing with the dynamics of space structure, the use of Lagrange's equations of motion in terms of quasi-coordinates were suggested to derive hybrid equations of motion for rigid-body translations and elastic vibrations. The perturbation method is then applied to the hybrid equations of motion along with discretization by means of admissible functions. This process is very tiresome. Recently, a new approach that applies the perturbation method to the Lagrange's equations directly was proposed and applied to the two-dimensional floating structure. In this paper. we propose the application of the perturbation method to the Lagrange's equations of motion in terms of quasi-coordinates. Theoretical derivations show the efficacy of the proposed method.

펜들럼 자동 평형 장치의 동특성 해석 (Dynamic Analysis of a Pendulum Automatic Dynamic Balancer)

  • 이진우;손진승;조은형;박노철;박영필
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2002년도 추계학술대회논문집
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    • pp.994-999
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    • 2002
  • The Pendulum Automatic Dynamic Balancer is a device to reduce the unbalanced mass of rotors. For the analysis of dynamic stability and behavior, the nonlinear equations of motion for a system including the Pendulum Balancer are derived with respect to polar coordinate by Lagrange's equations. And the perturbation method is applied to find the equilibrium positions and to obtain the linear variation equations. Based on the linearized equations, the dynamic stability of the system around the equilibrium positions is investigated by the eigenvalue problem. Furthermore, in order to confirm the stability, the time responses for the system are computed from the nonlinear equations of motion.

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회전기계의 진동저감을 위한 자동볼평형장치 (Automatic Ball Balancer for Vibration Reduction of Rotating Machines)

  • 정진태
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2005년도 춘계학술대회논문집
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    • pp.59-68
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    • 2005
  • In this study, we establish a theory for dynamic behaviors of an automatic ball balancer, analyze its dynamic characteristics, and provide its design guide line. Equations of motion are derived by using the polar coordinate system instead of the rectangular coordinate system which was previously used in other researches. After non-dimensionalization of the equations, the perturbation method is applied to locate the equilibrium positions and to obtain the linearized equations of motion around the equilibrium positions. The Eigenvalue problem is used to verify the dynamic stability around the equilibrium positions. On the other hand, the time responses are computed from the nonlinear equations of motion by using a time integration method.

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