• Journal of Mechanical Science and Technology
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• v.16 no.6
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• pp.810-818
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• 2002

When the contribution of lightweight components to the total energy of a system is small, tole inertia effects are sometimes ignored by replacing them to massless links. For example, a revolute-spherical massless link generates two kinematic constraint equations between adjacent bodies and allows four relative degrees of freedom. In this paper, to implement a massless link systematically in a computer program using the velocity transformation technique, the velocity transformation matrix of massless links is derived and numerically implemented. The velocity transformation matrix for a revolute-spherical massless link and a revolute-universal massless link are appeared as a 6$\times$4 matrix and a 6$\times$3 matrix, respectively. A massless link model in a suspension composite joint transmitting external forces is also developed and the numerical efficiency of the proposed model is compared to a conventional multibody model. For a massless link transmitting external forces, forces acting on links are resolved and transmitted to the attached points with a quasi-static assumption. Numerical examples are presented to verify the formulation.

• International Journal of Automotive Technology
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• v.8 no.6
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• pp.745-752
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• 2007

In this study, the effects of flexible bodies in vehicle suspension components were investigated to enhance the accuracy of multibody dynamic simulation results. Front and rear suspension components were investigated. Subframes, a stabilizer bar, a tie rod, a front lower control arm, a front knuckle, and front struts were selected. Reverse engineering techniques were used to construct a virtual vehicle model. Hard points and inertia data of the components were measured with surface scanning equipment. The mechanical characteristics of bushings and dampers were obtained from experiments. Reaction forces calculated from the multibody dynamics simulations were compared with test results at the ball joint of the lower control arm in both time-history and range-pair counting plots. Simulation results showed that the flexibility of the strut component had considerable influence on the lateral reaction force. Among the suspension components, the flexibility of the sub-frame, steering knuckle and upper strut resulted in better correlations with test results while the other flexible bodies could be neglected.

• Journal of Korean Ophthalmic Optics Society
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• v.12 no.1
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• pp.41-51
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• 2007

Differential equations and their solutions were formulated to describe the deflection of the tapered, nonuniform thickness and width's temple, clamped at one end while the perpendicular force is acting on the other end which is freely suspended. The model was derived based on laws of continuity at every point inside the elastic medium that the deflection, tangent slope, bending moment, shearing force must be continuous within the medium. The model is found to be in good agreement with measurements on the beta titanium temple with the correlation 0.992 and p=0.999(Chi test). Therefore it is possible to predict the effect of various temple parameters such as elastic modulus, thickness, width on the deflection of the temples being considered.

• Geomechanics and Engineering
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• v.11 no.4
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• pp.457-469
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• 2016

Steep rock slope with water-filled tension crack will happen to overturn around the toe of the slope under seismic loading. This failure type is completely different from the common toppling failure occurring in anti-dipping layered rock mass slopes with steeply dipping discontinuities. This paper presents an analytical approach to determine the seismic factor of safety against overturning for an intact rock mass slope with water-filled tension crack considering horizontal and vertical seismic coefficients. This solution is a generalized explicit expression and is derived using the moment equilibrium approach. A numerical program based on discontinuous deformation analysis (DDA) is adopted to validate the analytical results. The parametric study is carried out to adequately investigate the effect of horizontal and vertical seismic coefficients on the overall stability against overturning for a saturated rock slope under two water pressure modes. The analytical results show that vertically upward seismic inertia force or/and second water pressure distribution mode will remarkably decrease the slope stability against overturning. Finally, several representative design charts of slopes also are presented for the practical application.

• Structural Engineering and Mechanics
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• v.37 no.5
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• pp.489-507
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• 2011

The dynamic response of a Timoshenko beam on a tensionless Pasternak foundation is investigated by assuming that the beam is subjected to a concentrated harmonic load at its middle. This action results in the creation of lift-off regions between the beam and the foundation that effect the character of the response. Although small displacements for the beam and the foundation are assumed, the problem becomes nonlinear since the contact/lift-off regions are not known at the outset. The governing equations of the beam, which are coupled in deflection and rotation, are obtained in both the contact and lift-off regions. After removing the coupling, the essentials of the problem (the contact regions) are determined by using an analytical-numerical method. The results are presented in figures to demonstrate the effects of some parameters on the extent of the contact lengths and displacements. The results are also compared with those of Bernoulli-Euler, shear, and Rayleigh beams. It is observed that the solution is not unique; for a fixed value of the frequency parameter, more than one solution (contact length) exists. The contact length of the beam increases with the increase of the frequency and rotary-inertia parameters, whereas it decreases with increasing shear foundation parameter.

• Magazine of the Korean Society of Agricultural Engineers
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• v.17 no.4
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• pp.3962-3969
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• 1975

1. When the frame of the experimental apparatus was directly fixed on the platform, result from the spectrum density analysis showed that the generated vibration frequecy of the system was nearly-same as the system's own characteristic vibration frequency, 80Hz, in the case of the forcing vibration frequency was 7.5 to 22.5Hz. The reduction ratio of acceleration by balanced type model compare to non-balanced type one was 26.66 percent. 2. When the frame of experimental apparatus was fixed on the platform with putting a shock absorbing rubber between the frame and the platform, the generated vibration frequency of the system was same as forcing vibration frequency. When either frequency or the amplitude of the forcing vibration was increased, the acceleration ratio was increased too. The average reduction ratio was resulted 44.77 per cent. It was concluded that this method of acceleration measurement(the method using a shock absorbing rubber) was a reaonable method, because actual machine will work under such condition. As the vibration frequency and aptitude were increased, the absolute magnitude of acceleration was increased. 3. unbalanced rotating parts, and unbalanced moment of inertia of links were supposed to be causing factors of residual vibration in spite of using the balanced type oscillating mole drainer. This fact suggested that the attachment of the counter weight on the rotating parts which satisfy the condition mw$.$rw=m0e, was necessary. And also, it was expected that the shock absorbing effect could be improved by putting the shock absorbing materials between the moving parts and their supports.

• Journal of Welding and Joining
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• v.21 no.2
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• pp.102-110
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• 2003

A visual sensor consisted of polygonal mirror, laser, and CCD camera was proposed to measure the distance to the weld joint for recognizing the joint shape. To scan the laser beam of the sensor onto an object, 8-facet polygonal mirror was used as the rotating mirror. By locating the laser and the camera at axi-symmetrical positions around the mirror, the synchronized-scan condition could be satisfied even when the mirror was set to rotate through one direction continuously, which could remove the inertia effect of the conventional oscillating-mirror methods. The mathematical modelling of the proposed sensor with the optical triangulation method made it possible to derive the relation between the position of an image on the camera and the one of a laser light on the object. Through the geometrical simulation of the proposed sensor with the principal of reflection and virtual image, the optical path of a laser light could be predicted. The position and direction of the CCD camera were determined based on the Scheimpflug's condition to fit the focus of any image reflected from an object within the field of view. The results of modelling and simulation revealed that the proposed visual sensor could be used to recognize the weld joint and its vicinity located within the range of the field of view and the resolution. (Received February 19, 2003)

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.694-699
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• 2005

This paper deals with a control technique of eliminating the transient vibration of a geared mechanical system. This technique is based on a model-based control with a rotational speed sensor in order to establish the damping effect at the driven machine part. A rotational speed sensor is installed in a driven gear, namely a bull gear. A control model is composed of a reduced-order mechanical part expressed as a transfer function between the rotational speed of the motor and that of the bull gear. This control model estimates a load speed after the rotational speed of the bull gear is acted on the transfer function. The difference between the estimated load speed and the motor speed is calculated dynamically and it is added to the velocity command to suppress the transient vibration generated at the load. This control technique is applied to a dies driving spindle of a form rolling machine. In this paper, the performance of this control method is examined by simulations. The settling time of the residual vibration generated at the loading inertia can be shortened down to about 1/2 of the uncompensated vibration level.

• Computational Structural Engineering
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• v.8 no.1
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• pp.95-106
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• 1995

Noise and vibration induced by subway operation are one of the major factor that annoy residents living near the subway tracks. In general, lateral vibration is the major concern when we are considering vibration of a building. However, the vertical vibration is the major concern in considering the vibration induced by the subway operation. Analysis model for the vertical vibration of the structure should consider the effect of beam vibration. Thus, the same model used for the lateral vibration analysis can not be used for an analysis of vertical vibration of the structure. Appropriate analysis model which can consider the inertia force of the beam is necessary when analyzing a structure for the vertical vibration. Modeling technique for the vertical vibration analysis of structures has been studied on this paper. It is recommended to use one or more elements for columns and to use two or more elements for beams when analyzing structures for vertical vibration induced by subway operation.