Autonomous robots are commonly operated on rough roads. Thus, it is essential to predict their dynamic characteristics. Even though it is possible to use real hardware to acquire a robot’s dynamic characteristics, this requires a significant amount of time and cost. Therefore, a real-time remote driving simulator must be developed to reduce these risks. Most real-time simulators employ physics engines, which are calculated using simple functional expressions based on particles. However, in this case, there is a limit to reflecting the dynamic characteristics of actual robots. In this study, a multi-body dynamic model of a robot was established. MATLAB Simulink was used to connect the vehicle model with the joystick and calculate user input signals. The PID control system determines the driving torque of the robot to satisfy the calculated signal. Gain value optimization is performed to enable real-time control. This study can be available to analyze the traversability.

As advanced driver-assistance systems become more common in commercial vehicles, there is a growing need for evaluating safety of vehicles. Low platform target robot systems play a crucial role in this evaluation process as they can assess safety performances of autonomous vehicles. Driving stability of a target robot during real vehicle tests depends significantly on its suspension system. Therefore, developing an appropriate suspension device for the target robot is of utmost importance. This study aimed to improve driving stability by comparing two different suspension configurations: a single rocker and a double rocker, both incorporating a crank rocker mechanism. Initially, a two-dimensional model that met constraints of the suspension device was developed, followed by an analysis of reaction forces. Subsequently, an optimal design was determined using design of experiments principles based on parameters of a 2D model. The manufactured suspension system model based on the optimal design underwent multi-body dynamics simulation to evaluate driving stability. Comparative analysis of driving stability for both configurations was performed using MBD simulation, offering insights into the superior suspension design for the target robot.

The pipe inspection robot using the MFL non-destructive inspection equipment, has high inspection efficiency in the pipe with high magnetic permeability. However, this equipment generates attractive force between the pipe and the permanent magnet, requiring a high driving force for the robot, and sometimes causes the robot to be incapable of driving. In this study, the development of a spiral running type magnetic leakage detection pipe inspection robot system is described. Multi-body dynamics analysis was performed on the designed robot, to confirm the robot"s driving performance. After that, the performance of the robot was verified, by testing the manufactured robot in a standardized test bed.

The lifting-and-lowering type drone station is very useful when lifting and lowering the battery charging station for safe installation, maintenance, and energy efficiency of drone operation. Therefore, understanding the coupling motion between cable and pulley is important for evaluating characteristics like safety and dynamic stability of the lifting-and-lowering type drone station. Although multibody dynamics (MBD) is widely used for numerically analyzing the dynamic behavior of interconnected bodies, attempts to analyze the coupling motion between cable and pulley have been made only recently, within the last decade. Therefore, this paper attempts to develop the MBD model for the lifting-and-lowering type drone station, including cables, pulleys, and winches using MotionSolve (Altair). The results of the winch torque obtained analytically and numerically were compared to verify the effectiveness of the proposed MBD model.

When wind load acts on the Power Transmission Line (PTL) with asymmetric cross section from icing and snowing, the generated vibration is termed ‘galloping phenomenon’. Since galloping phenomenon triggers short circuits or ground faults of the PTL, various galloping studies are being conducted, at home and abroad. However, galloping analysis is performed for single span in most cases, while actual PTL comprises multiple spans. In this study, PTL is modeled as a mass-springdamper system, using a multi-body dynamics analysis program, RecurDyn. To analyze dynamic analysis of the PTL, damping coefficient is derived, by using the free vibration experiment of the PTL and Rayleigh damping theory. Through flow analysis, the galloping occurrence condition was identified, and galloping simulation was performed, by modeling the wind load. The effect of galloping on the stress applied to the pylon, was analyzed by flexible modeling the pylon between spans. As a result, approximately 150% of stress is applied to the pylon, so the galloping phenomenon should be considered when designing the pylon.