• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.6
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• pp.61-66
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• 2020

For simple and repetitive transport tasks in limited spaces such as in factories, it is more efficient to use mobile robots instead of human workers. For this reason, the reliance on mobile robots is increasing due to the increased implementation of smart factories. Currently, the structural design of the Mecanum wheel is required to ensure the stability of the moving robot since it is used for the transport of not only small products but also large products. In this paper, to improve the stability and durability of the Mecanum wheel, ways to improve the structure of the Mecanum wheel are presented. Then, using the Castigliano theorem, the structural stability is reviewed through the deflection on existing and improved structures.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.3
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• pp.283-288
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• 2010

Mobile harbor is characterized by the lightweight compact structure when compared to the conventional above-ground port container crane. A new concept RORI crane system, which was devised for mobile harbor to satisfy the compactness and light weightness, not only can load/unload containers with high speed on sea but can be completely folded at maneuvering mode. This study is concerned with the tip deflection of the horizontal boom of mobile harbor at container loading operation. Both the theoretical method utilizing the Castigliano's theorem and the numerical approach by finite element method are employed, and the reliability of the latter approach is verified through the comparison with the theoretical results. And then, the effect of the initial cable tension on the tip deflection is parametrically examined by the finite element analysis.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.1
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• pp.215-222
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• 1993

A general method is proposed for stiffness analysis of the leaf springs only using the geometric data and Young's modulus of the leaf springs. In this method, an engineering beam theory and Castigliano's theory are applied for the derivation of the stiffness of the leaf springs. To show realiability and effectiveness of this method, the stiffness from the proposed method is compared with the results for various types of leaf springs. From these comparisons the proposed method has been proved to be effective and reliable to estimate the stiffness of the leaf springs.

• Journal of Ocean Engineering and Technology
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• v.23 no.4
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• pp.91-99
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• 2009

Many longitudinally arranged pipes in ships are subject to considerable displacement loads caused by the hull girder bending of ships and/or thermal loads in some special pipes through which fluids with highly abnormal temperatures are conveyed. As these loads may cause failure in the pipes or their supporting structures, loops have been widely adopted as a measure to prevent such failure, with the idea that they can lower the stress level in a pipe by absorbing some portion of these loads. But since such loops have some negative effects, such as causing extra manufacturing cost and occupying extra space, the number and dimensions of the loops need to be minimized. This research developed design formulas for pipe loops, modeling them as a spring element, for which the axial stiffness is calculated based on the beam theory, incorporating the effects of the curvature of loop corners and the flexibility of the straight portion of the pipe. The accuracy of the proposed design formulas was verified by comparing two results respectively obtained by the proposed formulas and MSC/NASTRAN. The paper ends with a sample application of the proposed formulas showing their efficiency.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.1
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• pp.180-187
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• 1997

A formula for estimating the elastic stiffness of TW-HDS with a uniformly tapered width from w$_{0}$ to w$_{1}$ over the length, has been analytically derived based on Euler beam theory and Castigliano's theorem. Elastic stiffnesses of the TW-HDSs designed in the same dimensional design spaces as the KOFA HDSs have been estimated from the derived formula, in addition, a sensitivity study on the elastic stiffness of the TW-HDSs has been carried out. Analysis results show that elastic stiffnesses of the TW-HDSs have been by far higher than those of the KOFA HDSs, and that, as the effects of axial and shear force on the elastic stiffness have been 0.15-0.21%, most of the elastic stiffness is attributed to the bending moment. As a result of sensitivity analysis, the elastic stiffness sensitivity at each design variable is quantified and design variables having remarkable sensitivity are identified. Among the design variables, leaf thickness is identified as that of having the most remarkable sensitivity of the elastic stiffness.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1276-1290
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• 1997

The previous elastic stiffness formulas of leaf type holddown spring assemblies(HDSs) have been corrected and extended to be able to consider the point of taper runout for the TT-HDS and all the strain energies for both the TT-HDS and the TW-HDS based on Euler beam theory and Castigliano'stheorem. The elastic stiffness sensitivity of the leaf type holddown spring assemblies was analyzed using the derived elastic stiffness formulas and their gradient vectors obtained from the mid-point formula. As a result of the sensitivity analysis, the elastic stiffness sensitivity at each design variable is quantified and design variables having remarkable sensitivity are identified. Among the design variables, leaf thickness is identified as that of having the most remarkable sensitivity of the elastic stiffness. In addition, it was found that the sensitivity of the leaf type HDS's elastic stiffness is exponentially correlated to the leaf thickness.