• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.497-504
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• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• 대한기계학회논문집A
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• 제21권10호
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• pp.1598-1608
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• 1997

Based on the application of te theory of conjugate approximations and the Loubignac's iterative method in a local region, a method to improve the stress filed in a displacement-formulated finite element solution has been proposed. The validity of the proposed method has been tested through two examples : a thick cylinder under internal pressure loading and an infinite plate with a central circular hole subjected to uniaxial tension. As a result of analysis of the examples, it was found that the stress field obtained for the local region model by the proposed method approximates well for the whole domain model. In addition, it was found that because of a significant decrease in the computing time to obtain the improved stress field, the proposed method is efficient and useful for the detailed stress analysis in local regions.

• 한국전산구조공학회논문집
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• 제25권6호
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• pp.549-558
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• 2012

본 논문에서는 레벨셋 방법을 이용하여, 소음을 차단하기 위한 음향 구조물의 형상 최적설계를 수행하였다. 형상 최적설계의 목적은 특정한 각도와 각속도로 입사되는 입사파에 대해서 음향 투과율(acoustic transmittance)이 최소가 되도록 음향 결정의 형상(inclusion shape)을 결정하는 것이다. 음향 결정 구조에서는 음향이 흩어져 있는 결정 구조에 의해서 굴절되기 때문에 결정 모양을 조정함으로써, 음향 거동을 제어할 수 있다. 본 연구에서는 음향 구조물로 결정이 수평방향으로는 주기적으로 무한히 분포하고 수직방향으로는 유한한 층간 구조를 가지고 있는 소음 방어벽(Noise barrier)을 고려한다. 주기적 구조물을 고려하기 때문에 결정의 좌와 우에 Bloch 이론을 적용해 주기적 경계조건을 부과하였고, 소음 방어벽 위와 아래에는 임피던스 행렬(impedance matrix)를 이용하여, 무한 균질 영역과 소음 방어벽 사이의 음파 투과를 모사하였다. 결정의 위상과 형상변화를 묘사하기 위해서 레벨셋 방법(level set method)을 사용하였다. 레벨셋 방법에서는 초기 영역을 고정시킨 상태에서, 레벨셋으로 표현되는 임시적 경계(implicit moving boundary)를 변화시킴으로써 복잡한 형상을 다룰 수 있다. 몇몇 수치적 예제를 통해, 제시된 방법의 적용성을 검증하였다.