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Dynamic Characteristic-based Driving Performance Analysis of a Semi-active Suspension Wheel Module for Small Mobile Robots
Seoyeon Park, Sungjae Kim, Juhyun Pyo, Murim Kim, Jin-Ho Suh
J. Korean Soc. Precis. Eng. 2025;42(11):919-926.
Published online November 1, 2025
DOI: https://doi.org/10.7736/JKSPE.025.069

This study details the development of a semi-active suspension wheel module for small mobile robots and assesses its dynamic characteristics under various driving conditions through simulation. The wheel module features a low-degree-of-freedom mechanical design and includes a semi-active damper to improve adaptability to different environments. To validate the simulation model, a prototype robot equipped with the wheel module was created, and obstacle-crossing experiments were conducted to measure vertical acceleration responses. The model was then refined based on these experimental results. By employing design of experiments and optimization techniques, the effective range of damping coefficients was estimated. Additionally, simulations were carried out at different speeds, payloads, and obstacle heights to identify optimal damping values and examine their trends. The results indicate that the proposed module significantly enhances driving stability and can serve as a foundation for future control strategies in robotic mobility systems.

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Dynamic Characteristic Analysis of an Inertial Navigation System for Guided Weapons Equipped with COTS Vibration Isolator
Ho-Ho Lee, Jun-Hyuk Park, Geun-Suk Gil, Jong-Geun Jeon, Ki-Hyuk Kwon, Sang-Chan Moon, Seung-Bok Kwon, Seongho Nam, Chang-Ky Sung
J. Korean Soc. Precis. Eng. 2024;41(10):797-805.
Published online October 1, 2024
DOI: https://doi.org/10.7736/JKSPE.024.074
Inertial navigation technology originally designed for precise guidance of missiles is widely used in weapon systems. Guided missiles have become supersonic and high maneuverability with advancement of science and technology. Antivibration performance against high vibration and shock energy is accordingly required. Sensors of an Inertial Navigation System (INS) have a high sensitivity. Conversion coefficients for acceleration values and bias errors in signals must be minimized. A vibration isolator is generally applied to protect INS by attenuating the vibration and shock energy transmitted from dynamic disturbances. The stiffness and damping are changed using highly damped materials such as elastomers that must be protected from disturbances. A vibration isolator is widely used in various fields. However, it is important to understand characteristics of a vibration isolator composed of elastomer because it has nonlinearities such as hyperelasticity and viscoelastic as well as damping characteristics. In this study, a COTS vibration isolator suitable for INS was selected through theoretical approach. Response characteristics of the system in a vibration and shock environment were analyzed through FEM analysis and vibration and shock test. In addition, through repeated excitation test, reproducibility and structural stability were confirmed when the vibration isolator was installed in the system.
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Optimal Damping Control of Engine Mount and It’s Application to MR Mount
Tae Woong Ha, Min Sig Kang
J. Korean Soc. Precis. Eng. 2022;39(8):565-573.
Published online August 1, 2022
DOI: https://doi.org/10.7736/JKSPE.022.055
Passenger ride comfort is an integral component of any road vehicle. Ride comport is impacted by vibration resulting from road roughness of low frequency, and also engine vibration of high frequency. The engine mount is an essential component, which acts as a vibration isolator from unwanted vibration. However, vibration isolation requires conflicting design criterion, such as high damping in low frequency range, and low damping in high frequency range. The purpose of this study was to develop a new optimal damping design method for engine mounts based on minimizing H-norm. The damping minimizes H-norm of displacement and force transmissibilities in the wide-frequency vehicle operating range. The proposed optimal damping control was applied to a Magnetorheological (MR) engine mount, to investigate the vibration isolation performance. The feasibility of the proposed method is verified, with some numerical simulation examples.

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  • Influence of Magnetic-Viscous Friction on the Properties of a Magnetorheological Hydraulic Mount
    A. V. Vanyagin, B. A. Gordeev, A. I. Ermolaev, S. N. Okhulkov, A. S. Plekhov
    Russian Engineering Research.2024; 44(10): 1425.     CrossRef
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