• Journal of Mechanical Science and Technology
• /
• 제18권5호
• /
• pp.780-788
• /
• 2004

To avoid the unit inconsistency problem in the conventional Jacobian matrix, new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points was presented (Kim and Ryu, 2003). This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived unit consistent Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

• 대한기계학회논문집A
• /
• 제27권11호
• /
• pp.1941-1948
• /
• 2003

This paper is about feasibility study of positioning device using magnetic suspension system which uses only vertical magnetic forces. The proposed system has inherited advantages from contact-free system, simple structure, and high expansibility in operating range different from conventional positioning devices. In this paper, the structure and operating principle are described and the linearized magnetic force and dynamic model are obtained. With the linear control theory, the experiments are executed. finally, the experimental results are shown.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2001년도 춘계학술대회논문집A
• /
• pp.837-841
• /
• 2001

The column-type sensing element in building and mechanical construction parts was designed as three forces and three moments sensor by attaching strain gages approximately. Compared to conventional multi-component sensor, the designed sensor can solve the problem about low stiffness and high cost. The radius of the column was designed analytically and compared with finite element analysis. The coupling errors between components were minimized by using addition and subtraction procedure of signals. The fabricated sensor was tested by using a deadweight force standard machine and a six-component force calibration machine in Korea Research Institute of Standards and Science(KRISS). The calibration showed that the multi-component force/moment sensor had coupling error less than 19.8 % between $F_x$ and $M_y$ components, and 9.0 % in case of other components.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2003년도 추계학술대회
• /
• pp.1500-1505
• /
• 2003

In order to avoid the unit inconsistency problem in the conventional Jacobian matrix, previously we presented new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points based on the velocity relationship [1]. This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived dimensionally homogeneous Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2002년도 춘계학술대회논문집
• /
• pp.489-494
• /
• 2002

This paper presents hydraulic model which can capture the hysteric damping force behavior of ER damper. A flow mode rue ER damper is manufactured, and its field-dependent damping forces are measured. Newly proposed hydraulic model which derived from physical hydro-mechanical parameters of ER damper are conventional Bingham model are investigated to represent the field-dependent damping force characteristics of ER damper. After principal parameters of two models are estimated from the measured damping forces data, the force vs velocity hysteresis cycles are then reconstructed. The results show that the proposed hydraulic model can capture the hysteresis behavior of ER damper accurately.

• 한국소음진동공학회논문집
• /
• 제12권2호
• /
• pp.108-115
• /
• 2002

The excitation forces from the periodical firing pressure in cylinder and the rotating crank mechanism cause lots of vibration problems in diesel engines. In this Paper. the computational program for predicting the excitation force is developed and applied to 4-stroke In-line engines. The crank angle is also optimized to reduce the first and second order moment produced by engines. Compared to the conventional uniform crank angle, about 70 % of the first order horizontal and vertical moment can be reduced by re-designing the crank angle non-uniformly.

• Computers and Concrete
• /
• 제11권6호
• /
• pp.515-529
• /
• 2013

The moment-curvature relation for simple bending is a well-studied subject and the classical moment-curvature diagram is commonly found in literature. The influence of axial forces has generally been considered as compression onto symmetrically reinforced cross-sections, thus strain at the reference fiber never has been an issue. However, when dealing with integral structures, which are usually statically indeterminate in different degrees, these concepts are not sufficient. Their horizontal elements are often completely restrained, which, under imposed deformations, leads to moderate compressive or tensile axial forces. The authors propose to analyze conventional beam cross-sections with moment-curvature diagrams considering asymmetrically reinforced cross-sections under combined influence of bending and moderate axial force. In addition a new diagram is introduced that expands the common moment-curvature relation onto the strain variation at the reference fiber. A parametric study presented in this article reveals the significant influence of selected cross-section parameters.

• 전기학회논문지
• /
• 제57권4호
• /
• pp.589-595
• /
• 2008

Detent force of a permanent magnet linear motor(PMLSM) consist of cogging and drag forces, and should be minimized for high precision control purpose applications. This paper shows that the cogging force can be reduced effectively by employing 9 pole 10 slot structure. The drag force is minimized by optimizing the total length and shape of the exterior teeth of armature core simultaneously by using($1+{\lambda}$) evolution strategy coupled with response surface method. After optimization, the optimized PMLSM is proven to reduce 95% and 92.6% of the cogging and total detent forces, respectively, and give 12% and 6.4% higher Back-emf and thrust force, respectively, compared with a conventional 12 pole 9 slot structure under the same condition. Additionally, Simulation results by the proposed optimum design are verified by the experiment results.

• 한국지진공학회:학술대회논문집
• /
• 한국지진공학회 2003년도 춘계 학술발표회논문집
• /
• pp.465-472
• /
• 2003

The main concept of base isolation system is to reduce the member forces by decreasing the earthquake forces transmitted to superstructure instead of the conventional techniques of strengthening the structural members. There are two important advantages in friction pendulum systems. The functions of carrying the vertical load and of providing horizontal stiffness are effectively separated. This results in a more stable system that eliminates the need of a fail-safe mechanism. Friction pendulum systems are less sensitive to variations in the frequency content of ground excitation and tend to limit the intensity of the farce imparted to the superstructure. This study investigates the friction coefficients on the FPS test specimens according to the velocity, bearing pressure and test waveform.

• 한국지진공학회논문집
• /
• 제11권3호
• /
• pp.1-10
• /
• 2007

현수교 행어케이블의 장력은 현수교의 상태점검에 있어 중요한 요소이다. 현재 케이블의 장력 추정에는 여러 이론식에 의한 간접적인 방법들이 사용되고 있으며, 케이블의 가속도신호로부터 고유진동수를 측정한 후 고유진동수와 장력과의 관계로부터 케이블의 장력을 추정하는 진동법이 대표적이다. 하지만 운동방정식을 기반으로 하는 진동법은 휨강성의 영향이 큰 짧은 케이블의 장력추정에는 적합하지 않다. 본 논문에서는 10m 미만의 짧은 케이블에 대해서도 전기 가능한 새로운 장력 추정 방법으로 단변분탐색법과, 최적화 기법을 이용한 역해석 기법을 제시하였다. 이론에 대한 검증을 위해 국내에 사용 중인 광안대교 행어케이블을 대상으로, 역해석과 진동법에 의한 추정장력들과 설계장력을 상호 비교하였고, 이를 통해 역해석기법이 길이에 상관없이 장력추정에 유용하다는 결론을 얻었다.