• Journal of Biosystems Engineering
• /
• 제15권2호
• /
• pp.79-87
• /
• 1990

An automatic guidance system based upon two position-measurement systems was designed to record where the tractor traveled and to guide the tractor along the predetermined path. An algorithm, using the kinematic behavior of tractor movement, was developed to determine the steering angle to reduce lateral position error. The algorithm was based upon constant travel speed, constant steering rate, and zero slip angles of the tractor wheels. The algorithm was evaluated through use of computer simulation and verified in field experiments. Results showed that the distance interval between position measurements was an important factor in guidance system performance. The position-measurement error of the guidance system must be less than 5 cm to be acceptably precise for field operations. An algorithm based upon a variable steering rate might improve the stability of the guidance system. More accurate measurement of tractor position and yaw angle, and faster error processing are required to improve the field performance of the guidance system.

• 대한기계학회논문집
• /
• 제15권5호
• /
• pp.1640-1648
• /
• 1991

본 연구에서는 이러한 편사 함수 최소화의 방법을 적용함에 있어 보다 안정된 수렴성과 계산 시간을 단축시키기 위하여 근접 위치 방법(near position method)을 개 발하여 적용하였다. 근접 위치 방법이란 이론적 해석법으로 풀기가 불가능한 기구학 을 갖는 6관절 로봇을 반복적 해석법을 사용한다는 것을 전제로 하여, 초기 위치를 목 표 위치에 가능한 근접하게 잡아서 반복 계산을 수행하는 방법으로써 로봇의 기구학적 자세에 따른 수렴의 불안정성을 방지하고, 계산 시간을 단축하는데 그 목적이 있다.

• 산업기술연구
• /
• 제19권
• /
• pp.43-50
• /
• 1999

Vehicle suspensions can be regarded as interconnection of rigid bodies with kinematic joints and compliance elements such as springs, bushings, and stabilizers. Design of a suspension system requires detailed specification of the interconnection point (or so called hard points) and characteristic values of compliance elements. During the design process, these design variables are determined to meet some prescribed performance targets expressed in terms of SDFs (Static Design Factors), such as toe, camber, compliance steer, etc. This paper elaborates on a systematic approach to achieve optimum design of suspension systems.

• Smart Structures and Systems
• /
• 제13권4호
• /
• pp.517-546
• /
• 2014

This paper proposes a refined electro-mechanical beam formulation. Lagrange-type polynomials are used to interpolate the unknowns over the beam cross section. Three- (L3), four- (L4), and nine-point(L9) polynomials are considered which lead to linear, bi-linear, and quadratic displacement field approximations over the beam cross-section. Finite elements are obtained by employing the principle of virtual displacements in conjunction with the Carrera Unified Formulation (CUF). The finite element matrices and vectors are expressed in terms of fundamental nuclei whose forms do not depend on the assumptions made. Additional refined beam models are implemented by introducing further discretizations, over the beam cross-section. Some assessments from bibliography have been solved in order to validate the electro-mechanical formulation. The investigations conducted show that the present formulation is able to detect the electro-mechanical interaction.

• 한국철도학회논문집
• /
• 제12권2호
• /
• pp.236-242
• /
• 2009

본 연구에서는 철도차량의 차륜과 레일에 대해 플랜지 접촉을 포함하여 모든 위치예서 차륜-레일간 접촉 위치를 수치 해석적으로 구하는 방범을 제안한다. 이를 위해 차륜과 레일의 형상은 매개변수로 표현되는 3차원 곡면함수로 나타내었다. 기구학적 구속조건식을 Newton-Rhapson 방법을 이용하여 구하는 것과 차륜과 레일간 최소거리가 0이 된다는 최적화 방법을 동시에 이용하여 정확하고 효율적으로 계산하는 새로운 방법을 제안하였다.

• EDISON SW 활용 경진대회 논문집
• /
• 제5회(2016년)
• /
• pp.501-505
• /
• 2016

In this study, a robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism. Our goal is to finish the given path using given terms. The various programs was used to understand the mechanism in more detail. DISON m.Sketch, EDISON Designer, Theo Jansen Mechanism Optimization Solver. Using these programs, we can design the robot in more dtails and reduce errors and trials. For the design and implementation of a robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.

• Advances in nano research
• /
• 제10권1호
• /
• pp.15-24
• /
• 2021

Microtubules (MTs) are the main part of the cytoskeleton in living eukaryotic cells. In this article, a mechanical model of MT buckling, considering the modified strain gradient theory, is analytically examined. The MT is assumed as a cylindrical beam and a new single variable trigonometric beam theory is developed in conjunction with a modified strain gradient model. The main benefit of the present formulation is shown in its new kinematic where we found only one unknown as the Euler-Bernoulli beam model, which is even less than the Timoshenko beam model. The governing equations are deduced by considering virtual work principle. The effectiveness of the present method is checked by comparing the obtained results with those reported by other higher shear deformation beam theory involving a higher number of unknowns. It is shown that microstructure-dependent response is more important when material length scale parameters are closer to the outer diameter of MTs. Also, it can be confirmed that influences of shear deformation become more considerable for smaller shear modulus and aspect ratios.

• 한국운동역학회지
• /
• 제25권1호
• /
• pp.11-19
• /
• 2015

Objective : The purpose of this study was to analyze the correlation between physical factors (X-factor, X-factor stretch) and club factors (club speed, ball speed, club path, smash factor, vertical launch angle, spin rate, flight time, total length) during impact and it affect on the total distance of the ball during a golf driver swing. Background : There were not enough studies that analyzed the correlation between physical factors(X-factor, X-factor stretch) and club factors(club speed, ball speed, club path, smash factor, launch angle, spin rate, flight time, total length) during a purpose swing to increase total distance. Method : For this study, 9 right handed professional male golfers (KPGA) were chosen. The test subject group used their own drivers and each took a total of 10 swings. These swings consisted of 5 purpose swings to increase total distance and 5 normal swings. Results : The purpose swing to increase total distance showed larger physical factors(X-factor, X-factor stretch) compared to a normal swing however the results were not statistically significant. Total distance increased during a purpose swing as a result of ball and club speed. Conclusion : The results showed that club factors, ball speed and club speed contributed the most in affecting the total distance of the ball during a purpose swing.

• 한국운동역학회지
• /
• 제15권2호
• /
• pp.129-138
• /
• 2005

The purpose of this study was to investigate the techniques used by long jumpers who recorded over 8meters in 2002 Busan Asian Game and 2003 Daegu Universiade. The kinematic characteristics from the last three stride to takeoff at the takeoff board were analyzed such as velocities, heights and angles. The real-life three-dimensional coordinates of 20 body landmarks during each trial were collected using a Direct Linear Transformation procedure. The conclusion were as follows; 1. The height variation who recorded over 8 meters of center of gravity of the jumpers at the last stride was under 8cm. In order to record over 8meters the national long jumpers should have under 10cm height variation. 2. In the approach phase the horizontal velocity of the jumpers should reach to 10.5m/s in last three strides and 9.79m/s in touch down at take off board. 3. The horizontal velocity at take off board must have over 8.51m/s and the vertical velocity must have 3.75m/s simultaneously in order to record 8meters. 4. The forward body lean angle should have over 20degrees with pushing the take off board in forwarding movement. The appropriate body variation range ratio between take off and touch down should be 1.2 vs 1 and the trunk angle at touch down on the board should be close to the erect posture for higher body flight.

• 한국지능시스템학회논문지
• /
• 제21권2호
• /
• pp.159-164
• /
• 2011

본 연구에서는 4절 링크 이론(four-bar linkage mechanism)과 얀센 메커니즘(Jansen mechanism)을 기반으로 다관절 보행 로봇(multi-legged walking robot)인 게(crab) 로봇을 제작하고, 게 로봇의 움직임에 대하여 기구학적인 해석을 제시한다. 제작된 게 로봇은 영상 획득을 위하여 카메라를 장착하였고, 장애물 회피를 위하여 3조의 초음파 센서를 가지고 있다. 또한 RF통신으로 외부에 영상 정보를 전달하며, Blue-tooth 통신 모듈을 장착하여 외부로부터 부여된 임무를 수행할 수 있다. 게 로봇의 설계와 제작을 하기 위해서 필요로 하는, 로봇 다리의 움직임을 알기 위해서는 관절 변수와 다리 끝단의 위치 및 자세와의 관계를 얻어야 한다. 따라서, 제안된 기구학적 해석은 로봇의 설계와 제작에 있어서 많은 도움을 주며 중요한 과정이다.