• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• 대한인간공학회지
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• 제23권1호
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• pp.39-48
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• 2004

In terms of women engaged in clerical job. working time of the workers who mainly keep standing with their high-heeled shoes on has been increasing. According]y. they are exposed to many kinds of foot deformation caused by loads of lower back and lower extremities due to high-heeled shoes. The type of heels they usually wear are diverse though the hight is same. In this study. we investigated most women's favorite styles of shoes concerned with heights. types and contact areas of the heels. Hence. we designed three kinds of shoes for an experiment: their contact areas with ground are 1 cm2. 2-4 cm2 and over 9 cm2 according to the heel heights. respectively. To investigate the biomechanical effects. analysis of motion and EMG were applied to the experiments. In addition. foot pressure distribution was measured for more detailed analysis. Six healthy young women were participated in this experiments. The result showed the heel becoming higher and narrower increased not only fluctuation of CBM(Center of Body Mass). but also the load of low back muscle and lower extremities. Accordingly. there was significant difference among types of the heel in terms of the role supporting load of the body. though the height is same. Especially. the difference among the pressures on a foot was most significant. In conclusion. we verified biomechanical effects are related with the contact area of a heel with ground as well as the hight.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.103-108
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• 2004

In this study, examined heavy-weight floor impact sound to structure that have slab thickness of 4 form at a standard laboratory through noise and vibration measured. The results show that the nature Natural frequency increased according to change of thickness of each slab by finite element analysis, and acceleration value decreased. Results of measurements of noise and vibration at a standard laboratory, the slab 210, 240mm structures was construed result such as finite element analysis but the slab 150, 180mm structures is construed that influence in vibration acceleration level because edge condition has condition that contact to ground. Therefore, in modelling process for analysis, is thought that need that condition analyzes examining element influencing about structure that contact to ground.

• 제어로봇시스템학회논문지
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• 제8권3호
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• pp.226-232
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• 2002

In this work, the quasi-static crawling of the four-bar mechanism is investigated. Since the crawling of the mechanism is based on sliding of contact points of the mechanism with the ground, interaction forces and friction forces at contact points of the mechanism with the ground should be computed. For this purpose, we introduce the concept of imaginary joints to find these forces and treat the closed mechanism as a serial one. Lastly, the required torques for the mechanism to crawl with respect to various configurations of the mechanism on a flat ground with uniform friction coefficient, based on sliding conditions of the mechanism in quasi-static equilibrium, are investigated.

• 한국전산구조공학회논문집
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• 제33권2호
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• pp.121-128
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• 2020

본 논문에서는 고속열차-차륜-레일-지반부의 상호작용에 따른 지반부의 변위장과 가속도장의 분포양상을 연구하고자 하였다. 이를 위해 고속열차 주행을 실제 차륜으로 모형하여 차륜-레일간의 연직접촉과 사행동에 의한 횡접촉을 모사하고, 이동질량해석을 근간으로 하였다. 이 때 지반부는 Modified Drucker-Prager 모델을 이용하여 상면 지반부의 비선형 거동을 부여하고 이에 따른 변위, 가속도의 변화를 탄성지반의 거동과 비탄성지반의 거동을 상호 비교하였다. 이를 통해, 실제 지반거동과 가까운 변위와 가속도 범위를 예측하고자 하였다. 이 때 지반부의 von-Mises응력과 등가소성변형도를 검토하고, 각 파괴면에서의 등가소성변형도, 전체 체적변형도 등을 검토하였다. 이동질량을 이용한 차륜-레일 접촉부의 수직응력, 횡압, 종방향 구속압 등의 시간이력에 따른 응력변화도 검토하였다. 비선형 지반모델의 경우 탄성 지반모델에 비해 열차 주행에 따른 변위 차이는 크지 않는 반면에 가속도의 경우는 큰 감소를 발생시키는 것으로 나타났다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 춘계학술대회 논문집
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• pp.566-569
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• 2000

This hybrid position/force control for the dynamic walking of the biped robot is performed in this paper. After the biped robot was modeled with 14 degrees of freedom of the multibody dynamics, the equations of motion are constructed using velocity transformation technique. Then the inverse dynamic analysis is performed for determining the driving torques and the ground reaction forces. From this analysis, obtains the maximum ground contact force at the moment of contacting which act on the rear of the sole of swing leg and the distribution curve of the ground reaction. Because these maximum force and distribution type acts an important role to the stability of the whole dynamic walking, they are reduced and distributed smoothly by means of the trajectory of the modified ground reaction force. This new trajectory is used to the reference input for more stable dynamic walking of the whole walking region.

• 한국도로학회논문집
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• 제17권4호
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• pp.25-31
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• 2015

PURPOSES: Implementation and verification of the simple linear cohesive viscoelastic contact model that can be used to simulate dynamic behavior of sticky aggregates. METHODS: The differential equations were derived and the initial conditions were determined to simulate a free falling ball with a sticky surface from a ground. To describe this behavior, a combination of linear contact model and a cohesive contact model was used. The general solution for the differential equation was used to verify the implemented linear cohesive viscoelastic API model in the DEM. Sensitivity analysis was also performed using the derived analytical solutions for several combinations of damping coefficients and cohesive coefficients. RESULTS : The numerical solution obtained using the DEM showed good agreement with the analytical solution for two extreme conditions. It was observed that the linear cohesive model can be successfully implemented with a linear spring in the DEM API for dynamic analysis of the aggregates. CONCLUSIONS: It can be concluded that the derived closed form solutions are applicable for the analysis of the rebounding behavior of sticky particles, and for verification of the implemented API model in the DEM. The assumption of underdamped condition for the viscous behavior of the particles seems to be reasonable. Several factors have to be additionally identified in order to develop an enhanced contact model for an asphalt mixture.

• 대한토목학회논문집
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• 제40권2호
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• pp.217-223
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• 2020

연약지반에서의 공사들이 증가되면서 안전사고에 대한 관심도가 많아지고 보강공사에 따른 장비진입의 안정성을 확보하고자 많은 연구들이 진행되고 있다. Yamanouchi와 Meyerhof 수식과 같이 기존 문헌에서 제안하고 있는 이론적인 방정식들은 허용지지력을 계산하여 단순한 연약 지반 안정성을 평가하고 있으므로, 추가적인 수치해석 검증을 통해 연약지반 위의 접지압에 대한 응력증가분과 변형에 관한 이론방정식 검증이 필요하다. 본 연구에서는 유한요소해석 프로그램을 이용하여 토목섬유의 봉합인장강도의 증가에 따른 연약지반의 변형을 비교하였고, 접지압의 하중 크기에 따라 지중내 응력증가분의 상승을 현장에서 적용한 사례를 토대로 비교하였고, 이 적용사례를 토대로 접지압의 하중 변화에 따른 지중내 응력증가특성을 규명하였다.

• 한국운동역학회지
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• 제19권1호
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• pp.87-98
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• 2009

본 연구는 남자고등학생 숙련자와 비 숙련자의 던지기 동작을 역학적으로 비교 분석하기 위해 3차원 영상분석 및 지면반력분석을 수행하였다. 연구 결과 숙련자는 공 던지기 동작의 총 소요 시간이 비숙련자보다 짧게 나타났으며, 숙련자는 (1) 왼발 착지 시 신체중심의 수평속도 (2) 전 구간에서 전완 분절의 수평속도 (3) 착지 시 손 분절의 수평속도가 비숙련자보다 빠르게 나타난 반면, 비숙련자는 (1) 착지이후에 신체중심의 수평속도 (2) 왼발이 지면에 닿는 시점에서 손 분절의 수평속도가 숙련자보다 빠르게 나타났다. 전후경각도에서 숙련자는 전 구간에서 후경자세를 취하는 것으로 나타났으나, 비 숙련자는 릴리즈 전까지는 후경자세를 취하다 릴리즈 순간에서는 전경자세를 취한 형태에서 릴리즈를 하는 것으로 나타났다. 또한 숙련자는 공 던지기 동작에서 (1) 어깨각도 (2) 이지 후 오른발의 착지에서 팔꿈치 각도 (3) 최대수직지면반력 (4) 오른발의 착지 시 최대전후지면반력이 비숙련자보다 크게 나타났다. 이와 같은 결과에서 숙련자는 비숙련자보다 안정된 자세로 신체의 중심을 후방에 위치시키는 후경자세를 유지하고 신체의 중심이동을 부드럽게 전환하는 효과적인 던지기 동작이 이루어짐을 알 수 있다.

• 한국주거학회:학술대회논문집
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• 한국주거학회 2004년도 추계학술대회 논문집
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• pp.169-175
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• 2004

Considering the present development situation of domestic apartment complexes, the environment and its landscape is monotonous and dull, so the diversity is very important socially and visually. The ground floor dwellings can influence the richness and diversity of ground landscape in the apartment housing. Because they are set on the ground and directly contact with people's sight line. In this context, this study aims to identify the elements of design diversity in the ground floor dwellings, to analysis the architectural characteristics of them and to propose the improvement of diversity.