• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1286-1290
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• 2003

This paper presents a newly implemented parallel finite element procedure for contact-impact problems. Three sub-algorithms are includes in the proposed parallel contact-impact procedure, such as a parallel Belytschko-Lin-Tsay (BLT) shell element generation, a parallel explicit time integration scheme, and a parallel contact search algorithm based on the master slave slide-line algorithm. The underlying focus of the algorithms is on its effectiveness and efficiency for inclusion in future finite element systems on parallel computers. Throughout this research, a prototype code, named GT-PARADYN, is developed on the IBM SP2, a distributed-memory computer. Some numerical examples are provided to demonstrate the timing results of the procedure, discussing the accuracy and efficiency of the code.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.5
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• pp.394-401
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• 2004

This paper presents a study on the analysis of impact responses taking into account sensor dynamics. The contact force between impacting bodies is modelled by using Hertz force-displacement law and linear damping function. Since the real impact force and acceleration at the contact surface of two colliding bodies are measured indirectly by the sensors, the measured outputs can be a little different from the real impact responses. Therefore, in this study, the importance of consideration of sensor dynamics in the impact problems of two colliding bodies is emphasized. In order to verify the appropriateness of the proposed contact force model, the drop type impact test using two kinds of sensors is carried out. Through the numerical analysis and experiment, the effect of sensor dynamics and characteristics on the contact force model is investigated.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.3
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• pp.409-415
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• 2003

The purpose of this paper is to develop the 2-Dim Lagrangian Hydrocode for the analysis of large deformations of solids with implementation of the contact algorithm. First, th e governing equations are discretized into a system of algebraic equations. For more accurate and robust contact force computation. the defense node contact algorithm was adopted and implemented. For the verification of the code developed, two cases are carried out; the Taylor-Impact test and two bodies impact. The von -Mises criterion is implemented into the code with the Shock equation of state. The simulation results show a good agreement compared with the published experimental data and results from the commercial code. It is necessary to implement several material models and failure models for applications to different impact and penetration problems.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1998.04a
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• pp.407-412
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• 1998

In this work, a new time integration method is proposed using the generalized derivative concept to simulate the dynamic phenomena having sudden constraint occurring in dynamic contact/impact problems. By the adoption of the generalized derivative concept and jump assumption, discontinuity can be incorporated in time integration and as a result, the algorithm does not need any other special consideration of jumps in dynamic field variables due to sudden constraint like dynamic contact-release conditions. To observe the characteristics of the proposed time integration method, the stability and convergence analyses are carried out. In numerical tests, several dynamic contact/impact problems are analyzed by straightforward application of the proposed time integration method with the exterior penalty method.

• Journal of the Korea Institute of Military Science and Technology
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• v.11 no.5
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• pp.116-123
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• 2008

Hydrocodes are large computer programs that can be used to solve a wide variety of highly transient problems such as high-speed impact and explosion events. This paper describes the recent activity to develop a Multi-material hydrocode in Korea. The code consists of two stages; Lagrangian, and remap stages. Although a sophisticated contact algorithm has been developed for Lagrangian calculations, a relatively simple mechanics at the interfaces of materials are used in the multi-material Eulerian code. Volume of fluid interface reconstruction methods are used to resolve the interfaces between different materials. For the advection stage of the cell centered properties, one-dimensional hyperbolic equation is used. Test problems demonstrated here are the high-speed impact/penetration and explosion problems.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1080-1084
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• 1989

The motion of an workpiece to be manipulated is determined by the forces applied to the workpiece. During the contact between the robot hand and the workpiece, impulsive forces may dominate all other forces, and determine the ultimate success or failure of a task. Therefore, one of the important problems in the robot hands is the control of the initial impact force. In this paper, the problem of the force control of robot hand under system with contact force is presented. The principle of energy can be applied in the modelling of the impact force. In order to achieve stable contact and avoid bounces and vibrations, VSS is adopted in the design of the contact force controller. Some simulations are carried out for a pushing operation to control the contact force.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.147-154
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• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.12
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• pp.2121-2133
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• 1997

A finite element code is developed for 3-D self-contact problems, using continuum elements with a SRI(Selective Reduced Integration) scheme to prevent locking phenomenon by the incompressibility of rubber. Contact treatment is carried out in two ways : using the displacement constraints in case of rigid contact ; and imposing the same contact forces on two contact boundaries in case of self-contact. The finite element code developed is applied to the deformation analysis of C.V.joint boots which maintain lubrication conditions and protect the C.V.joint assembly from impact and dust. The boot accompanies large rotation depending on the rotation of the wheel axis and leading to the self-contact phenomena of the boot bellows. Since this contact phenomenon causes wear of the product and has great influence on the endurance life of the product, it is indispensable to carry out stress analysis of the rubber boots. In case of self-contact, various methods for determining contact forces have been suggested with an appropriate contact formulation. Especially, the types of penetration in self-contact are modularized to accelerate conputation with a contact algorithm.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.22 no.6
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• pp.527-532
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• 2009

In this paper simulations for the impact into ceramics and/or metal materials have been discussed. To model discrete nature for fracture and damage of brittle materials, we implemented cohesive-law fracture model with a node separation algorithm for the tensile failure and Mohr-Coulomb model for the compressive loading. The drawback of this scheme is that it requires a heavy computational time. This is because new nodes are generated continuously whenever a new crack surface is created. In order to reduce the amount of calculation, parallelization with MPI library has been implemented. For the high-speed impact problems, the mesh configuration and contact calculation changes continuously as time step advances and it causes unbalance of computational load of each processor. Dynamic load balancing technique which re-allocates the loading dynamically is used to achieve good parallel performance. Some impact problems have been simulated and the parallel performance and accuracy of the solutions are discussed.

• Structural Engineering and Mechanics
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• v.35 no.3
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• pp.349-364
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• 2010

The impact behaviour and the impact-induced damage in laminated composite cylindrical shell subjected to transverse impact by a foreign object are studied using three-dimensional non-linear transient dynamic finite element formulation. A layered version of 20 noded hexahedral element incorporating geometrical non-linearity is developed based on total Langragian approach. Non-linear system of equations resulting from non-linear strain displacement relation and non-linear contact loading are solved using Newton-Raphson incremental-iterative method. Some example problems of graphite/epoxy cylindrical shell panels are considered with variation of impactor and laminate parameters and influence of geometrical non-linear effect on the impact response and the resulting damage is investigated.