• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.296-301
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• 2005

This paper describes the kinematics, dynamics and control of a 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. In this shaking table, the bell crank mechanism is used to reduce the amount of space needed to install the shaking table and create horizontal displacement of the platform. In kinematics, joint design is performed using $Gr{\ddot{u}}bler's$ formula. The inverse kinematics of the shaking table is discussed. The derivation of the Jacobian matrix is presented to evaluate singularity conditions. Considering the maximum stroke of the hydraulic actuator, collision between links and singularity, workspace is computed. In dynamics, computations are based on the Newton-Euler formulation. To derive parallel algorithms, each of the contact forces is decomposed into one acting in the direction of the leg and the other acting in the plane orthogonal to the direction of the leg. Applying the Newton-Euler approach, the solution of inverse dynamics is almost completely parallel. Only one of the steps-the application of the Newton-Euler equations to the platform-must be performed on one single processor. Finally, the efficient control scheme is proposed for the tracking control of the motion platform.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.306-309
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• 2005

This parer describes the tracking control simulation of 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. For the Joint coordinate-based control which uses lengths of each actuator, the trajectory conversion process inverse kinematics is performed. Applying the Newton-Euler approach, the dynamic equation of the shaking table is derived. To cope with nonlinear problems, time-delay control(TDC) is considered, which has been noted for its exceptional robustness to parameter uncertainties and disturbance, in addition to steady-state accuracy and computational efficiency. If the nominal model is equal to the real system, joint coordinate-based control can be very efficient. However, manufacturing tolerances installation errors and link offsets contaminate the nominal values of the kinematic parameters used in the kinematic model of the shaking table. To compensate differences between the nominal model and the real system. the joint coordinate-based control using acceleration feedback in the Cartesian coordinate space is proposed.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.1369-1374
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• 2007

We carried out a vibration test to analyze causes of the damage in the plate of Bell Crank of the high speed Line turnout, at the section where the plate of high speed railway turnout get damaged from May 8th to 9th in 2006. In addition, through a test of the material quality, we performed an analysis of the qualities (of the components) composing the plate. The result indicates that the main cause of faults of the high speed line turnout, which is installed in the section of Chil-gok IEC, is the vibration. In this paper, effects on track-side equipments from vibration, and measurements to protect them from it are mainly analyzed and checked.

• International Journal of Safety
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• v.8 no.1
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• pp.6-9
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• 2009

The crack in a J85 engine V.G. actuator arm shaft for a bell crank on the engine compressor was investigated. The crack was observed in twenty two shafts during the inspection of 238 shafts. The failure analysis of shaft cracks was performed by chemical composition analysis using ICP(Inductively Coupled Plasma) and by fracture surface and microstructure analysis using FE-SEM and optical microscope. The crack initiated from the top and bottom and propagated to the center along the grain boundaries. From the chemical composition analysis, the fractography of the fracture surface and the microstructure, it was found that the failure mechanism of the shafts is the inclusion-related intergranular decohesion crack. The inclusion was found out from MnS particle by EDS(Energy Dispersive Spectroscopy). The crack initiated MnS inclusion in the grain boundary and propagated with the increase of applied shear stress during long operation. In order to prevent the fracture, NDI(Nondestructive inspection) is needed periodically as recommended.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.2
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• pp.140-147
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• 2003

Full scale durability test in the laboratory is an essential of any fatigue life evaluation of components or structures of the automotive vehicle. Component testing is particularly important in today's highly competitive industries where the design to reduce weight and production costs must be balanced with the necessity to avoid expensive service failure. Generally, hydraulic road simulator is used to carry out the fatigue test and the vibration test. In this paper, the link unit which is able to realize the 3 element forces such as vertical force, lateral force, and longitudinal force that are applied to the road simulator is designed. Also, the designed link is verified with kinematics and inverse-kinematics. From this results, the designed factor satisfied the maximum stroke so that it satisfied the requirements for 3-axial road simulator.

• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1303-1309
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• 2003

This paper presents the static and dynamic measurements for the strength and motion characteristics as well as the improved procedures to assess strength of wheel loaders. Two scenarios for static measurement were decided by which cylinder was actuating. The dynamic measurement was performed for two types of motion, that is, simple reciprocation of the working devices and actual working motion including traveling, digging and dumping. The measured items were stresses, cylinder pressures and strokes. Stress induced by bucket working showed higher level than that by boom working. The measured cylinder speeds were relatively superior to the design speeds. Working stress histories were thought to be closer to static rather than dynamic. A fully assembled FE model was prepared for structural analysis. In this paper, a more simple method was suggested to avoid nonlinearity caused by heave of rear frame under digging forces. Also how brake affected on structural behavior and digging force was examined closely in relation with tire pressure. It was confirmed that the overall stress level of wheel loader during turning traveling with loaded bucket was far lower than the yield stress of material.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.8
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• pp.98-106
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• 2020

This study examined the integrity of diesel engines for underwater vessels through failure analysis, analyzed the causes of abnormal diesel engine stoppage during building and examined the integrity of secondary damages. The diesel engine stoppage was analyzed by checking the temperature change of the piston before and after the abnormality and checking the damage. In addition, in order to analyze the secondary damage caused by the explosion, the tensile and compressive stresses transmitted to the crankshaft, the core part of the diesel engine, were calculated, and the stress distribution was examined through finite element analysis, but the crankshaft was designed by safety. It was confirmed that there was no damage to the crankcase even when the diesel engine was taken out of the ship and closely inspected. The integrity of the crank shaft was verified in advance for the occurrence of diesel engine emergency shutdown accidents through this research result. Therefore, the inspection and restoration were carried out to the minimum extent, and the quality of diesel engines was secured. This study is expected to be used as a reference for ensuring soundness in any future review of diesel engine quality problems.