• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.7
• /
• pp.144-153
• /
• 1997

The inverse kinematics problem of a reclaimer which excavates and transports raw materials in a raw yard is investigated. Because of the geometric feature of the equipment in which scooping buckets are attached around the rotating disk, kinematic redundancy occurs in determining joint variable. Link coordinates are introduced following the Denavit-Hartenbery representation. For a given excavation point the forward kinematics yields 3 equations, however the number of involved joint variables in the equations is four. It is shown that the rotating disk at the end of the boom provides an extra passive degree of freedom. Two approaches are investigated in obtaining inverse kinematics solutions. The first method pre-assigns the height of excavation point which can be determined through path planning. A closed form solution is obtained for the first approach. The second method exploits the orthogonality between the normal vector at the excavation point and the z axis of the end-effector coordinate system. The geometry near the reclaiming point has been approximated as a plane, and the plane equation has been obtained by the least square method considering 8 adjacent points near the point. A closed form solution is not found for the second approach, however a linear approximate solution is provided.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.1
• /
• pp.35-43
• /
• 1996

A computer program for automatic deriving the symbolic equations of motion for robots using the programming language MATHEMATICA has been developed. The program, developed based on the Lagrange formalism, is applicable to the closed chain robots as well as the open chain robots. The closed chains are virtually cut open, and the kinematics and dynamics of the virtual open chain robot are analyzed. The constraints are applied to the virtually cut joints. As a result, the spatial closed chain robot can be considered as a tree structured open chain robot with kinematic constraints. The topology of tree structured open chain robot is described by a FATHER array. The FATHER array of a link indicates the link that is connected in the direction of base link. The constraints are represented by Lagrange multipliers. The parallel robot, DELTA, having three-dimensional closed chains is modeled and simulated to illustrate the approach.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.25 no.12
• /
• pp.856-865
• /
• 2015

In a high-speed press, numerous moving links are interconnected and each link executes a constrained motion at high speed. As a consequence, high-level dynamic unbalance force and unbalance moment are transmitted to the main frame of the press, which results in unwanted vibration and significantly degrades manufacturing accuracy. Dynamic unbalance force and unbalance moment inevitably transmits high-level vibrational force to the foundation on which the press is installed. Minimizing the vibrational force transmitted to the foundation is critical for the protection of both the operators and the surrounding structures. The whole task should be carried out in two steps. The first step is to reduce dynamic unbalance based upon kinematic and dynamic analyses. The second step is to design and build an optimal vibration isolation system minimizing the vibrational force transmitted to the foundation. Firstly, the dynamic design method is presented to reduce dynamic unbalance force and moment. For this a 3D CAD software was utilized and a computer program was written to compute dynamic unbalance force and moment. Secondly, the design method for vibration isolation system is presented. The method for designing coil springs and viscous dampers are explained in detail.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.26 no.12
• /
• pp.1738-1746
• /
• 2002

In the FSI (Fluid-Structure Interaction) problems, two different governing equations are to be solved together. One is fur the fluid and the other for the structure. Furthermore, a kinematic constraint should be imposed along the boundary between the fluid and the structure. We use the combined formulation, which incorporates both the fluid and structure equations of motion into a single coupled variational equation so that it is not necessary to calculate the fluid force on the surface of structure explicitly when solving the equations of motion of the structure. A two-dimensional channel flow divided by a Bernoulli-Euler beam is considered and the dynamic response of the beam under the influence of channel flow is studied. The Navier-Stokes equations are solved using a P2P1 Galerkin finite element method with ALE (Arbitrary Lagrangian-Eulerian) algorithm. The internal structural damping effect is not considered in this study and numerical results are compared with a previous work fer steady case. In addition to the Reynolds number, two non-dimensional parameters, which govern this fluid-structure system, are proposed. It is found that the larger the dynamic viscosity and density of the fluid are, the larger the damping of the beam is. Also, the added mass is found to be linearly proportional to the density of the fluid.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.50 no.8
• /
• pp.531-540
• /
• 2022

In this paper, we present an algorithm that identifies artillery type and rapidly predicts the impact point based on the IMM filter. The ballistic trajectory equation is used as a system model, and three models with different ballistic coefficient values are used. Acceleration was divided into three components of gravity, air resistance, and lift. And lift acceleration was added as a new state variable. The kinematic condition that the velocity vector and lift acceleration are perpendicular was used as a pseudo-measurement value. The impact point was predicted based on the state variable estimated through the IMM filter and the ballistic coefficient of the model with the highest mode probability. Instead of the commonly used Runge-Kutta numerical integration for impact point prediction, a semi-analytic method was used to predict impact point with a small amount of calculation. Finally, a state variable initialization method using the least-square method was proposed. An integrated algorithm including artillery type identification, impact point prediction and initialization was presented, and the validity of the proposed method was verified through simulation.