• 한국소음진동공학회논문집
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• 제20권8호
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• pp.761-766
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• 2010

The goal of this study is to analysis natural frequency for different static postures of human leg. To perform this research human leg is modeled by multi-body modeling for the musculoskeletal system. This leg model has biarticular muscles which acting on two joints and the muscles represents some of the major muscles, such as hamstring, of the upper and lower limbs. To obtain each static equilibrium position energy method is employed and to analysis natural frequency linearization method for constrained mechanical system is employed. Static equilibrium position depends on some parameter or condition such as hamstring stiffness or external force. Making a change these parameter the aim of this research can be performed.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.826-830
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• 2007

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권2호
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• pp.409-425
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• 2015

In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.

• 한국자동차공학회논문집
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• 제14권3호
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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.

• 한국정밀공학회지
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• 제30권9호
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• pp.915-921
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• 2013

Most of large scale solar panel handling robots adopt the timing-belt drive system for its driveline because of the simplicity and the easiness of implementation. The vibration caused by the flexure of the timing belt would increase as the size and the weight of the panel that the robot handles increase and the vibration would deteriorate the precision and/or productivity of the whole robot system. For the development of a proper control system and for the improvement of the design of the robot it is important to estimate the oscillatory response of the robot system including the flexible drive system properly. In this paper a flexible multi-body dynamics model of a large-scale solar-panel-handling robot with the flexible timing-belt drive system is developed using a generic multi-body dynamics analysis program, RecurDyn.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.875-879
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• 2007

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.

• Journal of Mechanical Science and Technology
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• 제20권10호
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• pp.1638-1645
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• 2006

This paper proposes a modeling technique which is able to not only reliably and easily represent the hysteretic characteristics but also analyze the dynamic stress of a taper leaf spring. The flexible multi-body dynamic model of the taper leaf spring is developed by interfacing the finite element model and computation model of the taper leaf spring. Rigid dummy parts are attached at the places where a finite element leaf model is in contact with an adjacent one in order to apply contact model. Friction is defined in the contact model to represent the hysteretic phenomenon of the taper leaf spring. The test of the taper leaf spring is conducted for the validation of the reliability of the flexible multi-body dynamic model of the taper leaf spring developed in this paper. The test is started at an unloaded state with the excitation amplitude of $1{\sim}2mm/sec$ and frequency of 132 mm. First, the simulation is conducted with the same condition as the test. Then, the simulations are conducted with various amplitudes in a loaded state. The hysteretic diagram from the test is compared with the ones from the simulation for the validation of the reliability of the model. The dynamic stress analysis of the taper leaf spring is also conducted with the developed flexible multi-body dynamic model under a dynamic loading condition.

• 드라이브 ㆍ 컨트롤
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• 제16권1호
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• pp.36-44
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• 2019

Variable displacement swash plate piston pump analysis requires electric, hydraulics and dynamics which are similar to the one's incorporated in the complex fluid power and mechanical systems. The main variable capacity for the swash plate piston pumps, hydraulics or simple kinematic (swash plate degree, piston displacement) models are analyzed using AMESim, a multi-physics analysis program. AMESim is a multi-physics hydraulic analysis program that is considered good for the environment but not appropriate for environmental analysis for multibody dynamics. In this study, the analytical model of the swash plate type hydraulic piston pump variable capacity is modeled by combining the hydraulic part and the dynamic part through co-simulation of multibody dynamics program (Virtual.lab Motion) and multi-physics analysis (AMESim). This paper describes the whole modeling analysis method on the mechanical analysis of the multi-body dynamics program and how the hydraulic analysis in multi-physics analysis program works. This paper also presents a methodology for analyzing complex fluid power systems.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2012년도 추계학술대회 논문집
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• pp.613-616
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• 2012

A multi body simulation (MBS) model is developed for predicting the impact harshness of the vehicle. Impact harshness is the vehicle performance to evaluate the impulsive vibration behavior during driving over an obstacle of the road. Thus, the approach is simulated on the time domain for considering the transient behavior of the vehicle. The validity of vehicle component modeling of bushes, dampers and structure flexibilities is verified. The simulations are compared with the test results in both of vertical and longitudinal directions. In particular, the vertical vibration of the vehicle is significantly affected by the body flexibility. Through the sensitivity analysis, main factors for the impact harshness performance are investigated.

• Journal of Advanced Marine Engineering and Technology
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• 제41권3호
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• pp.258-268
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• 2017

본 논문에서는 하나의 해석 소프트웨어(SimulationX)로 로딩암의 유압회로 해석기술과 다물체 동역학 해석기술을 융합시키는 것을 목표로 한다. 움직이는 질량의 회전중심에 변화가 있거나, 중력장에서의 거동을 구현하기 어려운 기존의 유압회로해석기술의 한계성을 극복하고자 하는 연구이다. 연구를 진행하는 순서는 다음과 같다. 먼저 유압회로를 구성하는 부품들의 제원을 해석모델에 반영하여 신뢰성을 확보한다. 신뢰성이 검증된 단품해석모델을 이용하여 유압회로를 모델링하고, 로딩암의 MBS(Multi Body System)모델을 구성한다. 그 후에 유압회로의 해석모델과 MBS모델을 융합하여 회로의 해석결과가 MBS모델에 정확히 반영되는지 확인한다. 이러한 융합해석모델은 시제품이 없어도 대상의 동적거동을 예측 할 수 있으므로 개발비를 절감하는 효과를 가져다준다.