• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.132.6-132
• /
• 2001

This paper aims to derive a mathematical model of the dynamics of handling tasks in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.108.4-108
• /
• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.10 no.1
• /
• pp.112-119
• /
• 2001

Design sensitivity is an important is an important device in improving a mechanical system design. A continuum design consists of the shape and orientation design. This research develops the shape and orientation design sensitivity method. The configura-tion design variables of multibody systems define the shape and orientation changes. The equations of motion are directly differentiated to obtain the governing equations for the design sensitivity. The governing equation of the design sensitivity is formulated as an over determined differential algebraic equation and treated as ordinary differential equations on mani-folds. The material derivative of a domain functional is performed to obtain the sensitivity due to shape and orientation changes. The configuration design sensitivities of a fly-ball governor system and a spatial four bar mechanism are obtained using the proposed method and are validated against those obtained from the finite difference method.

• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.1841-1844
• /
• 2004

'Mixing Index($D_I$)'s generally used to measure the degree of mixing. A new method to calculate $D_I$ was proposed, when insoluble solution flows in micromixer. 'Vortex Index (${\Omega}_I$)'which indicate the degree of chaotic advection, is defined and formulated. A lots of arbitrary shaped microchannels were tested to calculate the $D_I$ and ${\Omega}_I$. And then a simple algebraic equation, $D_I=A{\Omega}_I+B$, was obtained. This equation may be used instead of partial differential equation, concentration equation.

• Bulletin of the Society of Naval Architects of Korea
• /
• v.13 no.1
• /
• pp.17-23
• /
• 1976

Some methods of analysis of rectangular plates under distributed load of various intensity with interior supports are presented herein. Analysis of many structures such as bottom, side shell, and deck plate of ship hull and flat slab, with or without internal supports, Floor systems of bridges, included crthotropic bridges is a problem of plate with elastic supports or continuous edges. When the four edges of rectangular plate is simply supported, the double Fourier series solution developed by Navier can represent an exact result of this problem. If two opposite edges are simply supported, Levy's method is available to give an "exact" solution. When the loading condition and supporting condition of a plate does not fall into these cases, no simple analytic method seems to be feasible. Analysis of a simply supported rectangular plate under irregularly distributed loads of various intensity with internal supports is carried out by applying Navier solution well as the "Principle of Superposition." Finite difference technique is used to solve plates under irregularly distributed loads of various intensity with internal supports and with various boundary conditions. When finite difference technique is applied to the Lagrange's plate bending equation, any of fourth order derivative term in this equation produces at least five pivotal points leading to some troubles when the resulting linear algebraic equations are to be solved. This problem was solved by reducing the order of the derivatives to two: the fourth order partial differential equation with one dependent variable, namely deflection, is changed to an equivalent pair of second order partial differential equations with two dependent variables. Finite difference technique is then applied to transform these equations to a set of simultaneous linear algebraic equations. Principle of Superposition is then applied to handle the problems caused by concentrated loads and interior supports. This method can be used for the cases of plates under irregularly distributed loads of various intensity with arbitrary conditions such as elastic supports, or continuous edges with or without interior supports, and this method can also be solve the influence values of deflection, moment and etc. at arbitrary position of plates under the live load.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.29 no.2 s.233
• /
• pp.232-238
• /
• 2005

The 'Mixing Index($D_I$)' is used as a conventional guidance measuring the degree of mixing for multiphase flows. For the case when insoluble solutions flow in a passive micromixer, a new method to calculate $D_I$ is proposed. The 'Vortex Index(${\Omega}_I$)' is suggested and formulated. We infer that ${\Omega}_I$ relates to the degree of chaotic advection. Various arbitrary shaped microchannels were tested to calculate the $D_I\;and\;{\Omega}_I$, and then a simple algebraic equation, $D_I=Aexp(B{\Omega}_I)$, is obtained. This equation may be used instead of the conventional partial differential equation, concentration equation, to estimate the degree of mixing.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.11
• /
• pp.176-184
• /
• 2000

Recently, it becomes a very important issue to consider the mechanical systems such as high-speed vehicle and railway train moving on a flexible beam structure. Using general approach proposed in the first part of this paper, it tis possible to predict planar motion of constrained mechanical system and elastic structure with various kinds of foundation supporting condition. Combined differential-algebraic equations of motion derived from both multibody dynamics theory and Finite Element Method can be analyzed numerically using generalized coordinate partitioning algorithm. To verify the validity of this approach, results from simply supported elastic beam subjected to a moving load are compared with exact solution from a reference. Finally, parameter study is conducted for a moving vehicle model on a simply supported 3-span bridge.

• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.11
• /
• pp.165-175
• /
• 2000

In recent years, it becomes a very important issue to consider the mechanical systems such as high-speed vehicles and railway trains moving on elastic beam structures. In this paper, a general approach, which can predict the dynamic behavior of constrained mechanical system and elastic beam structure, is proposed. Also, various supporting conditions of a foundation support are considered for the elastic beam structures. The elastic structure is assumed to be a nonuniform and linear Bernoulli-Euler beam with proportional damping effect. Combined Differential-Algebraic Equations of motion are derived using multibody dynamics theory and Finite Element Method. The proposed equations of motion can be solved numerically using generalizd coordinate partitioning method and Predictor-Corrector algorithm, which is an implicit multi-step integration method.

• International Journal of Control, Automation, and Systems
• /
• v.4 no.6
• /
• pp.714-724
• /
• 2006

In this note a method of designing optimal vibration control based on Haar functions to control of bounce and pitch vibrations in engine-body vibration structure is presented. Utilizing properties of Haar functions, a computational method to find optimal vibration control for the engine-body system is developed. It is shown that the optimal state trajectories and optimal vibration control are calculated approximately by solving only algebraic equations instead of solving the Riccati differential equation. Simulation results are included to demonstrate the validity and applicability of the technique.

• 제어로봇시스템학회:학술대회논문집
• /
• 1992.10a
• /
• pp.680-685
• /
• 1992

Solar arrays and antennas of the satellite are usually stowed within the dimensions of the launch-vehicle fairing and deployed in the orbit. To solve such multibody dynamic problems, differential equations and algebraic equations are simultaneously solved, and special solution techniques are required. In this paper, Lagrange multipliers associated with the constraints are iteratively computed by monotonically reducing an appropriately defined constraint error vector, and the resulting equation of motion is solved by a well-established ODE technique. Defomable bodies as well as rigid bodies are treated, and applications to satellite solar arrays are explained.