• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.333-334
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• 2013

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.408-411
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• 1995

In this paper, we discuss the force control of flexible manipulators. Since the force control of flexible manipulators with planar one or two links using the distributed-parameter modeling has been the subject of a considerable number of publications until now, real time computations of the force control schemes are possible. But, application of those control schemes to multi-link spatial manipulators is fairly complicated. In this paper, we apply a concise hybrid position/force control scheme for a flexible manipulators. We use a lumped-parameter modeling for the flexible manipulators. The Hamilton's principle is applied to derive the equations of motion for the system and then, state-space model is obtained by the Lagrange's method. Finally, comparison of simulation results with experimental results is given to show the performance of our method.

• Design & Manufacturing
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• v.16 no.3
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• pp.22-27
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• 2022

The demand for new processing technology that can improve productivity is increasing in industries that require large-scale and various products. In response to this demand, a robot machining system with flexibility is required. Because of the low rigidity of the robot, the robot machining system has a large error during machining and is vulnerable to vibration generated during machining. Vibration generated during machining deteriorates machining quality and reduces the durability of the machine. To solve this problem, a stage for fixing the spindle during machining is required. In order to compensate for the robot's low rigidity, a system combining a piezoelectric actuator for generating a large force and a guide mechanism to actuate with a desired direction is required. Since the rigidity of flexible hinges varies depending on the structure, it is important to optimal design the flexible hinge and high-rigidity system. The purpose of this research is to make analytic model and optimize a flexible hinge and to design a high rigidity stage. In this research, to design a flexible hinge stage, a concept design of system for high rigidity and flexure hinge modeling is carried out. Based on analytic modeling, the optimal design for the purpose of high rigidity is finished and the optimal design results is used to check the error between the modeling and actual simulation results.

• Journal of the military operations research society of Korea
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• v.25 no.1
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• pp.37-54
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• 1999

In this paper, we proposed a modeling method of continuous combat simulation by using VENSIM. VENSIM is a CASE tool for developing continuous simulation. It provides a simple and flexible way of building simulation models from causal loop or influence diagram. As a case model, we developed "a prototype model of battle"incorporating infantry, artillery, air defense weapon, aircraft, and guerrilla engagement.ngagement.

• Transactions of the KSME C: Technology and Education
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• v.3 no.2
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• pp.125-130
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• 2015

Using flexible multibody system dynamic method, the rigid-flexible coupling multibody dynamic analysis model of the drum brake system was developed, and the kinematic and dynamic simulation of the system was processed as its object of study. Simulations show that the friction will increase with the dynamic friction coefficient, but high dynamic friction coefficient will cause the abnormal vibration and worsen the stability of the brake system, even the stability of the whole automobile. The modeling of flexible multi-body can effectively analyze and solve complex three-dimensional dynamic subjects of brake system and evaluate brake capability. Further research and study on this basis will result in a convenient and effective solution that can be much helpful to study, design and development of the brake system.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.7
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• pp.189-195
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• 2000

For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed successfully by controlling the contact force. However, for constrained spatial multi-link flexible manipulators, the vibrations cannot be suppressed by only controlling the contact force. So, the aim of this paper is to clarify the vibration mechanism of a constrained, multi-DOF, flexible manipulator and to devise the suppression method. We apply a concise hybrid position/force control scheme to control a flexible manipulator modeled by lumped-parameter modeling method. Finally, a comparison between simulation and experimental results is presented to show the performance of our method.

• Journal of Aerospace System Engineering
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• v.2 no.2
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• pp.8-13
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• 2008

The fuel tank systems of fixed wing and rotary wing aircrafts require the self-sealing and crash-worthiness for their survivability. For these requirements, the flexible composite fuel tank is generally used. In this study, the drop and penetration performance of a fuel tank is investigated. The FE simulation includes the drop and penetration test of a fuel tank using MSC.DYTRAN. MSC.DYTRAN can provide the fluid-structure modeling of these test from Euler and Lagrange grids. Using MSC.DYTRAN, the finite modeling of the test cube of the flexible fuel tank and its FE simulation are performed for various environments. The simulation results can show if the test cube satisfies the performance requirements of the fuel tank.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.3
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• pp.51-57
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• 2006

The contact pressure distribution between a rubber wiper blade and a glass windshield is a major factor for wiping performance. A modeling and simulation method has been developed to forecast the contact pressure distribution on a wiper blade. For modeling multi-body dynamics of an wiper linkage system and flexible nature of wiper blade, ADAMS and ADAMS/flex are employed. A simulation study has been also conducted to obtain contact pressure distribution. Comparison between simulation and measurement is provided to ensure fidelity of the model and the simulation method.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.113.5-113
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• 2001

In this work, we consider the flexible manipulator system. Generally, the manipulator system may often be made on the base of the imperfect modeling, joint friction, payload change, and external disturbances. These elements are uncertain factors. These uncertainties and flexibility make difficult to control the system. To overcome these defects, a class of robust control law is proposed for the flexible manipulator system and the singular perturbation approach is applied. To show the effectiveness of this control law, simulation is presented for one degree of freedom flexible joint and flexible link system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.10
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• pp.1032-1037
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• 2008

The fuel tank systems of fixed wing and rotary wing aircrafts require the self-sealing and crash-worthiness for their survivability. For these requirements, the flexible composite fuel tank is generally used. In this study, the performance of the flexible composite fuel tank is investigated. The FE simulation includes the drop test of a fuel tank using MSC.DYTRAN. MSC.DYTRAN can provide the fluid-structure modeling of these test from Euler and Lagrange grids. Using MSC.DYTRAN, the finite element modeling of the test cube of the flexible fuel tank and its FE simulation are performed for various environments. The simulation results can show if the test cube satisfies the performance requirements of the fuel tank.