• 한국정밀공학회지
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• 제13권2호
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.343-343
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• 2000

The conventional actuators with the speed reducer had weakness in supporting the weight of the body and leg itself. To overcome this, a new four bar link mechanism actuated by the ball screw was proposed. Using this, we developed a new type of 10 D.O.F biped robot. The dynamics model of the biped robot is investigated in this paper. In the modeling process, the robot dynamics are expressed in the joint coordinates using the Euler-Lagrange equation. Then, they are converted in to the sliding joint coordinates, and joint torques are expressed in the force along the sliding direction of the ball screw. To test modeling of the robot, a computer simulation was performed.

• Steel and Composite Structures
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• 제19권6호
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• pp.1421-1447
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• 2015

In this paper, the effect of material-temperature dependent on the wave propagation of a cantilever beam composed of functionally graded material (FGM) under the effect of an impact force is investigated. The beam is excited by a transverse triangular force impulse modulated by a harmonic motion. Material properties of the beam are temperature-dependent and change in the thickness direction. The Kelvin-Voigt model for the material of the beam is used. The considered problem is investigated within the Euler-Bernoulli beam theory by using energy based finite element method. The system of equations of motion is derived by using Lagrange's equations. The obtained system of linear differential equations is reduced to a linear algebraic equation system and solved in the time domain and frequency domain by using Newmark average acceleration method. In order to establish the accuracy of the present formulation and results, the comparison study is performed with the published results available in the literature. Good agreement is observed. In the study, the effects of material distributions and temperature rising on the wave propagation of the FGM beam are investigated in detail.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.534-537
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• 2004

In this paper, a dynamic behavior of spring supported cantilever beam with a crack and a moving mass is presented. Based on the Euler-Bernoulli beam theory, the equation of motion can be constructed by using the Lagrange's eauation. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments i.e. the crack is modelled as a rotational spring. This flexibility matrix defines the relationship between the displacements and forces across the crack section and is derived by applying fundamental fracture mechanics theory. And the crack is assumed to be in the first mode of fracture. As the depth of the crack is increased the tip displacement of the cantilever beam is increased.

• Computers and Concrete
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• 제32권6호
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• pp.543-551
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• 2023

In this article, thermal post-buckling and primary resonance of the porous functionally graded material (FGM) beams in thermal environment considering the geometric imperfection are studied, the material properties of FGM beams are assumed to vary along the thickness of the beam, meanwhile, the porosity volume fraction, geometric imperfection, temperature, and the elastic foundation are considered, using the Euler-Lagrange equation, the nonlinear vibration equations are derived, after the dimensionless processing, the dimensionless equations of motion can be obtained. Then, the two-step perturbation method is applied to solve the vibration problems, the resonance and thermal post-buckling response relations are obtained. Finally, the functionally graded index, the porosity volume fraction, temperature, geometric imperfection, and the elastic foundation on the resonance behaviors of the FGM beams are presented. It can be found that these parameters can influence the thermal post-buckling and primary resonance problems.

• 제어로봇시스템학회논문지
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• 제19권1호
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• pp.1-9
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• 2013

This paper presents a new control algorithm for dynamic control of a unicycle robot. The unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot doesn't have any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement the dynamic speed control of the unicycle robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and LQ regulator are utilized to guarantee the stability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based sliding mode controller has been adopted to minimize the chattering by the switching function. The LQR controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the wheel. The control performance of the two control systems form a single dynamic model has been demonstrated by the real experiments.

• 한국산업융합학회 논문집
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• 제20권4호
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• pp.299-305
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• 2017

This study proposes a new technique to design and control of robot hand gripper for assembling and disassembling of a machine parts. The motion equation describing dynamics of the manipulators and object together with geometric constraint is formulated by Lagrange-Euler's equation. And the problems of controlling both the grasping force and the rotation angle of the grasped object under the constraints are analyzed. The effect of geometric constraints and a method of computer simulation for overall system is verified. Finally, it is illustrated that even in case of there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs control of joint and this feedback connection from sensing data to control grasping of machinery parts.

• 한국소음진동공학회논문집
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• 제17권7호
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• pp.605-610
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• 2007

In this paper a dynamic behavior(natural frequency) of a cracked cantilever beam subjected to follower force is presented. In addition, an analysis of the flutter and buckling instability of a cracked cantilever beam subjected to a follower compressive load is presented. Based on the Euler-Bernoulli beam theory, the equation of motion can be constructed by using the Lagrange's equation. The vibration analysis on such cracked beam is conducted to identify the critical follower force for flutter instability based on the variation of the first two resonant frequencies of the beam. Besides, the effect of the crack's intensity and location on the flutter follower force is studied. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations.

• 한국소음진동공학회논문집
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• 제13권7호
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• pp.562-569
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• 2003

An iterative modal analysis approach is developed to determine the effect of transverse open cracks on the dynamic behavior of simply supported pipe conveying fluid subject to the moving mass. The equation of motion Is derived by using Lagrange’s equation. The influences of the velocity of moving mass and the velocity of fluid flow and a crack have been studied on the dynamic behavior of a simply supported pipe system by numerical method. The presence of crack results In higher deflections of pipe. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments i.e. the crack is modelled as a rotational spring. Totally. as the velocity of fluid flow and the crack severity are increased, the mid-span deflection of simply supported pipe conveying fluid Is Increased. The time which produce the maximum dynamic deflection of the simply supported pipe Is delayed according to the increment of the crack severity.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 추계학술대회논문집A
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• pp.387-394
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• 2000

Theoretical and experimental study is conducted on the contact pressure distribution of a radial tire in motion under various camber angles. Tire construction is modelled by a spring bedded elastic ring, consisted of sidewall springs and a composite belt ring. The contact area is assumed to be a trapezoidal shape varying with camber angles and weighted load. The basic equation in a quasi-static form is derived for the deformation of a running belt with a constant velocity by the aid of Lagrange-Euler transformation. Galerkin's method and stepwise calculation are applied for solving the basic equation and the mechanical boundary condition along both sides of the contact belt part subjected to shearing forces transmitted from the sidewall spring. Experimental results on the contact pressure, measured by pressure sensors embedded in the surface of the drum tester, correspond well with the calculated ones for the test tire under various camber angles, running velocities and weighted loads. These results indicate that a buckling phenomenon of the contact belt in the widthwise direction occurs due to the effect of camber angle.