• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.266-271
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• 2009

A modeling method for the modal analysis of a multi-packet blade system having a crack undergoing rotational motion is presented in this paper. Each blade is assumed as a slender cantilever beam. The stiffness coupling effects between blades due to the flexibilities of the disc and the shroud are modeled with discrete springs. Hybrid deformation variables are employed to derive the equations of motion. The flexibility due to crack, which is assumed to be open during the vibration, is calculated basing on a fracture mechanics theory. To obtain more general information, the equations of motion are transformed into dimensionless forms in which dimensionless parameters are identified. The effects of the dimensionless parameters related to the angular speed, the depth and location of a crack on the modal characteristics of the system are investigated with some numerical examples.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.4
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• pp.149-155
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• 2016

This paper presents a control method of a mecanum wheel-based omni-directional electric board using driver weight shift. Instead of a steering device such as a joystick or a remote controller, 3 degree-of-freedom driving command for translational and rotational motion of the omni-directional electric board is generated from position of center of gravity measured from weight distribution. The weight shifting motion is not only a driving command but also an intuitive motion to overcome inertial forces. The overall control structure is presented with experimental results to prove validity of the proposed method.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.10
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.166-174
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• 2002

This paper presents an analytical method to Investigate the stability of a hydrodynamic journal bearing with rotating herringbone grooves. The dynamic coefficients of the hydrodynamic journal bearing are calculated using the FEM and the perturbation method. The linear equations of motion can be represented as a parametrically excited system because the dynamic coefficients have time-varying components due to the rotating grooves, even in the steady state. Their solution can be assumed as a Fourier series expansion so that the equations of motion can be rewritten as simultaneous algebraic equations with respect to the Fourier coefficients. Then, stability can be determined by solving Hill's infinite determinant of these algebraic equations. The validity of this research is proved by the comparison of the stability chart with the time response of the whirl radius obtained from the equations of motion. This research shows that the instability of the hydrodynamic journal bearing with rotating herringbone grooves increases with increasing eccentricity and with decreasing groove number, which play the major roles in increasing the average and variation of stiffness coefficients, respectively. It also shows that a high rotational speed is another source of instability by increasing the stiffness coefficients without changing the damping coefficients.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.4
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• pp.180-188
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• 2003

The vehicle simulator is a useful virtual reality system. The simulator enables engineers to effectively research and analyze various experiments. Therefore, the development of a specific vehicle simulator is required, and its performance must be verified. This paper verifies the performance of Pusan National University Vehicle Simulator. Human sensibility ergonomic tests of vehicle simulator were also executed. The sense of simulator motion was chosen as the standard of performance evaluation. The driver's senses were subdivided into senses of rectilinear and rotational velocities. This study extracted ergonomic sensibility words that can be used to evaluate the performance of the simulator As a practical application of simulator, the relation was studied between the sense of simulator motion and the characteristics of drivers, who are classified into their sexes and driving careers. A statistical method was applied to human sensibility ergonomic tests of vehicle simulator.

• Advances in aircraft and spacecraft science
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• v.3 no.3
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• pp.271-298
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• 2016

In this paper, we study a problem of passive suppression of helicopter Ground Resonance (GR) using a single degree freedom Nonlinear Energy Sink (NES), GR is a dynamic instability involving the coupling of the blades motion in the rotational plane (i.e. the lag motion) and the helicopter fuselage motion. A reduced linear system reproducing GR instability is used. It is obtained using successively Coleman transformation and binormal transformation. The analysis of the steadystate responses of this model is performed when a NES is attached on the helicopter fuselage. The NES involves an essential cubic restoring force and a linear damping force. The analysis is achieved applying complexification-averaging method. The resulting slow-flow model is finally analyzed using multiple scale approach. Four steady-state responses corresponding to complete suppression, partial suppression through strongly modulated response, partial suppression through periodic response and no suppression of the GR are highlighted. An algorithm based on simple criterions is developed to predict these steady-state response regimes. Numerical simulations of the complete system confirm this analysis of the slow-flow dynamics. A parametric analysis of the influence of the NES damping coefficient and the rotor speed on the response regime is finally proposed.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.7
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• pp.90-99
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• 1996

In the area of assembly process of micro-chips and electronic parts on the printed circuit board, surface mounting device(SMD) is used as a fundamental tool. Generally speaking, the motion of the SMD is based on the ball screw system operated by any type of actuators. The ball screw system is a mechanical transformed which converts the mechanical rotational motion to the translational one. Also, this system could be considered as an efficient motion device against mechanical backlash and friction. Therefore a dynamic modeling and state sensitivity analysis of the ball screw system in SMD have to be done in the initial design stage. In this paper, a simple mathematical dynamic model for this system and the sensit- ivity analysis are mentioned. Especially, the bond graph approach is used for graphical modeling of the dynamic system before analysis stage. And the direct differentiation method is used for the state sensit- ivity analysis of the system. Finally, some trends for the state variables with respect to the design variables could be suggested for the better design and faster operating based on the results of dynamic and state sensitivity.

• Korean Journal of Applied Biomechanics
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• v.12 no.2
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• pp.33-49
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• 2002

This study was intended to provide basic materials for golf coaching by somatotype by analyzing and comparing the kinematic factors found in each somatotype at the time of golf swing. For this purpose, the somatotype was divided into endomorph, mesomorph and ectomorph in reference to the weight, height and upper arm circumference of each of nine professional golfers. Each of their swing motions was videotaped with the camcorder and their swing motion was analyzed by dividing it into 8 sections. The time required for the swing motion, the displacement of the center of the human body and the rotation angle of the upper body were calculated through the three-dimensional image analysis based on the DLT(Direct Linear Transformation). Based on the findings of this study, the following conclusion was drawn: The endomorphic golfers showed the longest required golf swing time, followed by the mesomorphic golfer and then the endomorphic golfer. The displacement of left-to-right movement was largest in the mesomorphic golfers, followed by the endomorphic golfers the up-to-down displacement was upward at the time of impact and that the endomorphic and mesomorphic golfers raised the sense of stability by maintaining an almost uniform height at the time of impact. As for the rotational angle of the upper body and the rotational angle of the thigh, the upper body and the thigh took a form of rotating earlier in the ectomorphic golfers at the time of impact, who showed a somewhat different characteristics compared to the endomorphic and mesomorphic golfers. It is necessary to investigate the movement of more fundamental forces in presenting the theory related to the kinematic characteristics of this swing by somatotype. Accordingly, it is thought that it is necessary to analyze the center of pressure(COP) using the ground counterforce in the future study.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.8
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• pp.29-36
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• 2008

An optical rotary encoder is easy to implement for automation system applications. In particular, the output of the encoder has a digital form pulse, which is also easy to be connected to a popular digital controller. By using an incremental encoder and a counting device, it is easy to measure angular displacement, as the number of the output pulses is proportional to the rotational displacement. This method can only detect the angular placement once a pulse signal comes out of the encoder. The angular displacement detection period is strongly subject to the change of the angular displacement in case of ultimate low velocity range. They have ultimate long detection period or cannot even detect angular displacement at near zero velocity. This paper proposes an algorithm for detecting angular displacement by using a dual encoder system with two encoders of normal resolution. The angular displacement detecting algorithm is able to keep detection period moderately at near zero velocity and even detect constant angular displacement within nominal period. It is useful for motion control applications in case of changing rotational direction at which there occurs zero velocity. In this paper, various experimental results are shown for the angular displacement detection algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.524-530
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• 2015

Early wearable robotic devices were big, powerful and manipulator-like. Recently, various applications of wearable robotics have shown a greater demand for lower weight and compliancy. One approach to achieve these objectives is the use of novel actuators such as twisted string actuators. These actuator are very light, quiet, mechanically simple and compliant. Therefore, they can drastically decrease the weight and size of robotic systems such as exoskeletons. However, one drawback of this actuator is its nonlinear transmission ratio, which is established as a ratio between the angle of twisting of the strings and their resulting contraction. In this paper, we propose a transmission mechanism with rotational motion as the output incorporating a twisted string actuator (TSA). The designed mechanism allows the linearization of the relationships between the input and output displacements and forces of a TSA. The proposed design has been validated theoretically and through a set of computer simulations. A detailed analysis of the performance of the proposed mechanism is presented in this paper along with a design guideline.