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송성재,조병관,이장무,Song, Sung-Jae,Cho, Byung-Kwan,Lee, Jang-Moo 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.1
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.
송성재,장호명,Song, S.J.,Chang, H.M. 대한설비공학회 1997 설비공학 논문집 Vol.9 No.4
Analysis is performed to determine the optimal lengths or cross-sectional areas of refrigerator-cooled current leads that can be applied to the conduction-cooled superconducting systems. The binary current lead is composed of the series combination of a normal metal at the upper(warm) part and a high $T_c$ superconductor(HTS) at the lower(cold) part. The heat conduction toward the cold end of HTS part constitutes a major refrigeration load. In addition, the joint between the parts should be cooled by a refrigerator in order to reduce the load at the low end and maintain the HTS part in a superconducting state. The sum of the work inputs required for the two refrigeration loads needs to be minimized for an optimal operation. In this design, three simple models that depict the refrigeration performance as functions of cooling temperature are developed based on some of the existing refrigerators. By solving one-dimensional conduction equation that take into account the temperature-dependent properties of the materials, the refrigeration works are numerically calculated for various values of the joint temperature and the sizes of two parts. The results show that for given size of HTS, there exist the optimal values for the joint temperature and the size of the normal metal. It is also found that the refrigeration work decreases as the length of HTS increases and that the optimal size of normal metal is quite independent of the size of HTS. For a given length of HTS, there is an optimal cross-sectional area and it increases as the length increases. The dependence of the optimal sizes on the refrigerator models employed are presented for 1kA leads.
자동차 현가장치의 강성이 조종안정성에 미치는 영향에 관한 연구
송성재(S. J. Song),문홍기(H. K. Moon),조병관(B. K. Cho) 한국자동차공학회 1998 한국 자동차공학회논문집 Vol.6 No.4
An analysis of handling performance including the compliance effects is performed. Using the primitive design data of suspension systems, a kinematic model and the three kinds of compliance models are developed. The wheel alignments curves are obtained with the multibody dynamic analysis program ADAMS. The compliance effects of each model are discussed. Since the proposed analysis only requires the raw design data, the better prediction of wheel behaviors is possible in suspension design stage.