• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.33B no.4
• /
• pp.1-10
• /
• 1996

In this paper are presented kinematic and dynamic modeling and path-tracking of fourwhelled mobile robot with 2 d.o.f. having the limited drivetorques. Controllability of wheeled-mobile robot is revealed by using the kinematic model. Instantaneously coincident coordinate cystem, force/torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robot follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.17 no.8
• /
• pp.2043-2050
• /
• 1993

This paper presents a three dimensional modeling and dynamic analysis of a hydraulic excavator. An excavator composed of a boom, a bucket, two boom cylinders, an arm cylinder, and a bucket cylinder is used for the analysis. Each cylinder is modeled to two separate bodies linked by a translational joint. Judging from the actual degrees of freedom of the excavator, proper kinematic joints are selected to exclude redundant constraints in the modeling. In order to find the reaction forces at kinematic joints during operations, inverse dynamic analysis is carried out. Dynamic analysis is also carried out to verify the results from inverse dynamic analysis. The DADS program is used for analysis, with proper modification of the DADS user routine according to various motions.

• Proceedings of the Korea Water Resources Association Conference
• /
• 1998.05a
• /
• pp.265-271
• /
• 1998

• The Journal of Korea Robotics Society
• /
• v.10 no.2
• /
• pp.119-132
• /
• 2015

Two novel parallel mechanisms (PMs) employing two or three PaPaRR subchains are suggested. Each of those two PMs has translational 3-DOF motion and employs only revolute joints such that they could be adequate for haptic devices requiring minimal frictions. The position analyses of those two PMs are conducted. The mobility analysis, the kinematic modeling, and singularity analysis of each of two PMs are performed employing the screw theory. Then through optimal kinematic design, each of two PMs has excellent kinematic characteristics as well as useful workspace size adequate for haptic applications. In particular, by applying an additional redundantly actuated joint to the 2-PaPaRR type PM which has a closed-form position solution, it is shown that all of its parallel singularities within reachable workspace are completely removed and that its kinematic characteristics are improved.

• International Journal of Automotive Technology
• /
• v.6 no.6
• /
• pp.599-604
• /
• 2005

A functional suspension model is proposed as a kinematic describing function of the suspension, that represents the relative wheel displacement in polynomial form in terms of the vertical displacement of the wheel center and steering rack displacement. The relative velocity and acceleration of the wheel is represented in terms of first and second derivatives of the kinematic describing function. The system equations of motion for the full vehicle dynamic model are systematically derived by using velocity transformation method of multi-body dynamics. The comparison of test and simulation results demonstrates the validity of the proposed functional suspension modeling method. The model is computationally very efficient to achieve real-time simulation on TMS 320C6711 150 MHz DSP board of HILS (hardware-in-the-loop simulation) system for ECU (electronic control unit) evaluation of semi-active suspension.

• Transactions on Control, Automation and Systems Engineering
• /
• v.3 no.4
• /
• pp.210-216
• /
• 2001

In this paper, design of a 3-degree-of-freedom mobile robot with three caster wheels is performed. Initially, kinematic modeling and singularity analysis of the mobile robot is performed. It is found that the singularity can be avoided when the robot has more than two wheels on which two active joints are located. Optimal kinematic parameters of mobile robots with three active joint variables and with four active joint variables are obtained and compared with respect to kinematic isotropic index of the Jacobian matrix of the mobile robot which is functions of the wheel radius and the length of steering link.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.1013-1016
• /
• 1995

This paper deals with dynamics and control of a PRP6-DOF parallel manipulator. Dynamic modeling includes the effect of inertia of all links in the mechanism to increase modeling accuracy. Kinematic analysis about forward and inverse kinematics is also explained. Using Lagrange-D' Alambert method we get equations of motions in a link space which fully represent 6DOF motions of the manipulator.

• Journal of Positioning, Navigation, and Timing
• /
• v.5 no.4
• /
• pp.221-233
• /
• 2016

This paper deals with performance assessment of the kinematic network-based GPS positioning technique with a view to using it for ellipsoidally referenced bathymetric surveys. To this end, two field trials were carried out on a land vehicle and a surveying vessel. Single-frequency GPS data acquired from these tests were processed by an in-house software which equips the network modeling algorithm with instantaneous ambiguity resolution procedure. The results reveals that ambiguity success rate based on the network model is mostly higher than 99.0%, which is superior to that of the single-baseline model. In addition, achievable accuracy of the technique was accessed at ${\pm}1.6cm$ and 2.7 cm with 95% confidence level in horizontal and vertical component respectively. From bathymetric survey at the West Nakdong River in Busan, Korea, 3-D coordinates of 2,011 points on its bed were computed by using GPS-derived coordinates, attitude, measured depth and geoid undulation. Note that their vertical coordinates are aligned to the geoid, the so-called orthometric height which is widely adopted in river engineering. Bathymetry was constructed by interpolating the coordinate set, and some discussion on its benefit was given at the end.

• Korean Journal of Computational Design and Engineering
• /
• v.10 no.2
• /
• pp.133-142
• /
• 2005

This paper proposes an object-oriented conceptual information model of mechanical assemblies, named open assembly model (OAM). The proposed assembly model primarily defines hierarchical relationships between parts and subassemblies. Together with the assembly hierarchy. the model also provides a way to represent tolerances, kinematic information, and parametric assembly constraints. Relational information such as mating conditions and degree of freedom between parts and subassemblies is captured via assembly features and relationships thereof. The information model is described using class diagrams of the Unified Modeling Language (UML), and instance diagrams are used to exemplify the proposed information model. The conceptual model presented in this paper is an integrated information model for assembly representation, which could supply necessary information for tolerance analysis and synthesis, kinematic simulation, and assembly simulation. Such a conceptual information model plays an important role for the exchange of information between modeling, analysis and planning systems. Hence, the proposed model could serve as a framework for developing data exchange standards of mechanical assemblies. The proposed model is demonstrated through a case study of a planetary gear assembly.

• Structural Engineering and Mechanics
• /
• v.30 no.6
• /
• pp.665-678
• /
• 2008

The beams components subjected to the loading such as axial, bending and cyclic thermal loads were studied in this research. The used constitutive equations are those of elasto-plasticity coupled to ductile and/or creep damage. The nonlinear kinematic hardening behavior was considered in elastoplasticity modeling. The unified damage law proposed for ductile failure and fatigue by the author of Sermage et al. (2000) and Kachanov's creep damage model applied to cyclic creep and low cycle fatigue of beams. Based on the results of the analysis, the shakedown limit loads were determined through the calculation of the residual strains developed in the beam analysis. The iterative technique determines the shakedown limit load in an iterative manner by performing a series of full coupled elastic-plastic and continuum damage cyclic loading modeling. The maximum load carrying capacity of the beam can withstand, were determined and imposed on the Bree's interaction diagram. Comparison between the shakedown diagrams generated by or without creep and/or ductile damage for the loading patterns was presented.