• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.205-215
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• 2001

In this study, modeling and analysis procedure for the dynamic analysis of a high mobility tracked vehicle system were studied. The vehicle model used in this investigation is assumed to be consist of two kinematically decoupled subsystems. The chassis subsystem consists of chassis frame, sprocket, support rollers, road wheels, idler wheel, road wheel arms and idle wheel arm, while the track subsystem is represented as a closed kinematic chain consisting of track links and end connectors interconnected by revolute joints with bushing. Nonlinear contact force module describing the interaction between track link, and sprocket, idler wheel, road wheel, support roller, ground was used. The effects of road wheel arms and idler wheel arm due to tension adjuster are also considered.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.302-306
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• 1993

In this study, a new model for flexible disk grinding process will be proposed. A grinding mechanism with a grinding disk attached to the rubber platen has been introduced. Since the spinning axis is fixed and only the disk is deflected with respect to this axis, earlier model is not adequate to represent this proces. A new dynamic process model includes an assumption that the disk is deflected locally around the middle of its radial span between the spinning axis and the disk tip instead of several continuous deflection points along the radial span of the disk. Detailed kinematic analysis is proposed as for the removed portion during the process. Cutting force comonent and depth of cut profile trend is compared with the measured result.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.12
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• pp.2056-2061
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• 2001

Non-proportional loading tests of Nylon 66 at room temperature exhibit path dependent behavior and plasticity-relaxation interactions. The uniaxial formulation of the viscoplasticity theory based on overstress (VBO), which has been used to reproduce the nonlinear strain rate sensitivity, relaxation, significant recovery and cyclic softening behaviors of Nylon 66, is extended to three-dimensions to predict the response in strain-controlled, comer-path tests. VBO consists of a flow law that is easily written for either the stress or the strain as the independent variable. The flow law depends on the overstress, the difference between the stress and the equilibrium stress that is a state variable in VBO. The evolution law of the equilibrium stress in turn contains two additional state variables, the kinematic stress and the isotropic stress. The simulations show that the constitutive model is competent at modeling the deformation behavior of Nylon 66 and other solid polymers.

• Transactions of Materials Processing
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• v.16 no.2 s.92
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• pp.101-106
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• 2007

Uniaxial displacement controlled tests were performed on annealed Type 304 stainless steel at room temperature. A servo-controlled testing machine and strain measurement on the gage length were employed to measure the response to a given input. The test results exhibit that the flow stress increases nonlinearly with the strain rate and the relaxed stress at the end of the relaxation periods depends strongly on the strain rate preceding the relaxation test. The rate-dependent inelastic deformation behavior is simulated using a new unified viscoplasticity model that has the rate-dependent format of nonlinear kinematic hardening rule, which plays a key role in modeling the rate dependence of relaxation behavior. The model does not employ yield or loading/unloading criteria and consists of a flow law and the evolution laws of two tensor and one scalar-valued state variables.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.677-682
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• 2007

Recently, a precision stage is widely used in the fields of the nano technology. In this paper, the precision stage which consists of linear motor, vision system, light source system and controller, is designed and developed for nano imprint machine. Stiffness design considering resonance frequency is important for the precision stage. A virtual machine simulation is useful for machine development the early design stage. Kinematic and dynamic simulations of XYZ stage are performed. To consider the resonance frequency and vibration effects flexible multibody dynamics are utilized with FE modeling of the structural components.

• The Journal of Korea Robotics Society
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• v.9 no.3
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• pp.160-169
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• 2014

Odometry using wheel encoder is a common relative positioning technique for wheeled mobile robots. The major drawback of odometry is that the kinematic modeling errors are accumulated when the travel distance increases. Therefore, accurate calibration of odometry is required. In several related works, various schemes for odometry calibration are proposed. However, design guidelines of test tracks for odometry calibration were not considered. More accurate odometry calibration results can be achieved by using appropriate test track because the position and orientation errors after the test are affected by the test track. In this paper, we propose the design guidelines of test tracks for odometry calibration schemes using experimental heading errors. Numerical simulations and experiments clearly demonstrate that the proposed design guidelines result in more accurate calibration results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.4B
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• pp.278-284
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• 2006

In thispaper, we designed a intelligent autonomous driving robot by using Fuzzy algorithm. The object of designed robot is recognition of obstacle, avoidance of obstacle and safe arrival. We append a suspension system to auxiliary wheel for improvement in stability and movement. The designed robot can arrive at destination where is wanted to go by the old and the weak and the handicapped at indoor hospital and building.

• 유체기계공업학회:학술대회논문집
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• 2000.12a
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• pp.158-162
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• 2000

Secondary flows in gas turbines, especially those associated tip clearance and labyrinth seals, have become a focus of interest for engine manufacturers. In the past, many analytical and experimental studies, which focused solely on the flows in either tip clearances or seals, have been conducted. This paper presents an analytical model that describes the flow response in a single stage turbine induced by a finite sealing gap at the turbine rotor. The flow is assumed to be axisymmetric and the analysis is done in the meridional plane. Upon going through the stage, the radially uniform upstream flow is assumed to split into two streams one associated with the seal and the other which has gone through the blades. The former is referred to as the leakage flow, and the latter is referred the as the passage flow. The passage flow is assumed to be inviscid and incompressible while the flow in the seal can be modeled as either inviscid or viscous. Thus, the model is capable of predicting the kinematic effects of labyrinth seals on the turbine flow field.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.5
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1795-1798
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• 2003

This paper presents a method for impeller modeling by the reverse engineering and the 5-axis machining. The impeller is composed of pressure surface, suction surface and leading edge, and so on. The impeller is modeled by using the characteristic curves of impeller such as hub curves, shroud curves and leading edge. The characteristic curves are extracted from the scanned data. The hub curves and shroud curves are generated by intersection between blade surface and hub boundary and shroud boundary. respectively. A sample impeller machining is performed by tool path plan and post-processing with inverse kinematic solution.