http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
실험계획법에 의한 휴머노이드 발의 민감도 해석 및 최적화
윤지원(Jiwon Yoon),박태원(Taewon Park),정성필(Sungpil Jung),박중경(Joongkyung Park) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
These days, up-to-date humanoid robots are continuously developed. Among them, Qrio, Asimo[1,2] are famous for its unique walking technology and natural movement. These robots could show manufacturers' technological improvement and leave a good impression to the customer. In accordance with global trends, Samsung is also producing humanoid robot. The humanoid robot, however, could walk like a human compared to the industrial robot fixed in the factory. This feature could cause another dynamic effect while walking. In this paper, the robot's feet were examined to find out parameters that affect stability of the humanoid robot's feet. With the sensitivity analysis, the optimization procedure in design of experiments finds the most suitable performance of robot. Maximum deflection of the frame upon various cases was minimized, and rubber coefficients for shock absorption were optimized.
정일호(Ilho Jung),이진형(Jinhyoung Lee),박태원(Taewon Park),김혁(Hyuk Kim),조동협(Donghyeob Cho),박중경(Joongkyung Park) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.5_2
In this paper, a computer aided engineering (CAE) method is proposed for a fatigue life prediction in the early design stages using the multibody dynamics analysis and the linear damage rule. From a dynamic analysis of the OHT vehicle system, dynamic load time histories of vehicle components are calculated. From a finite element analysis of components, modal stresses are calculated. Through the dynamic load time history and the static stress of the component, a dynamic stress time history is produced using the superposition principle. Using the linear damage rule and the cycle counting method, the fatigue life is predicted from the dynamic stress time history. The process of predicting the fatigue life using the proposed computer models in this paper may be applied to structures of various dynamic systems.
정일호(IlHo-Jung),문하경(HaKyung-Moon),박태원(TaeWon-Park),김혁(Hyuk-Kim),이형(Hyung Lee),박중경(JoongKyung-Park) 한국자동차공학회 2005 한국자동차공학회 춘 추계 학술대회 논문집 Vol.2005 No.5_2
In this study, OHT dynamic model was developed by using the multi body dynamic analysis program ADAMS. Wheel and roller are modeled by the 3-D surface contact module. Especially, motor cycle tire mechanics is used in the wheel contact model. The OHT dynamic model can analyze the dynamic characteristic of the OHT vehicle with various driving conditions. And the result was verified by a vehicle traveling test. As a result of this study, the developed model is expected to predict wheel dynamic load time history and makes a contribution to design of a new monorail vehicle.
강윤석(Yun Seok Kang),유윤기(Yunki You),강민석(Minseok Kang),임홍재(Hong Jae Yim),심영보(Youngbo Shim),박중경(Joongkyung Park),권웅(Woong Kwon),노경식(Kyungsik Roh) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
In this research, an analysis and design method of a humanoid robot using multi-body kinematics and dynamics is presented. The proposed study is to develop a customized simulator to evaluate the prototype design in the early design stage. The simulator is not only to help humanoid developers to determine design parameters, such as dimensions, mass and inertia properties and actuator specifications, but also to analyze kinematics and dynamics characteristics for variable motions of the humanoid robot. Moreover, the simulator can demonstrate a walking pattern before building a prototype of a humanoid robot. Simulations of the humanoid robot using the customized simulator are performed to demonstrate the effectiveness and validity of the proposed research.