• Coupled systems mechanics
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• 제3권3호
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• pp.247-265
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• 2014

This article discusses the dynamic response of Bernoulli-Euler straight beam with angular elastic supports subjected to moving load with variable velocity. A new engineering approach for determination of the dynamic effect from the moving load on the stressed and strained state of the beam has been developed. A dynamic coefficient, a ratio of the dynamic to the static deflection of the beam, has been defined on the base of an infinite geometrical absolutely summable series. Generalization of the R. Willis' equation has been carried out: generalized boundary conditions have been introduced; the generalized elastic curve's equation on the base of infinite trigonometric series method has been obtained; the forces of inertia from normal and Coriolis accelerations and reduced beam mass have been taken into account. The influence of the boundary conditions and kinematic characteristics of the moving load on the dynamic coefficient has been investigated. As a result, the dynamic stressed and strained state has been obtained as a multiplication of the static one with the dynamic coefficient. The developed approach has been compared with a finite element one for a concrete engineering case and thus its authenticity has been proved.

• 한국지진공학회논문집
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• 제9권6호
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• pp.1-12
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• 2005

비보존력(non-conservative force)을 받는 외팔기둥의 동적 안정성 거동특성을 조사하기 위하여, 전단변형 및 감쇠효과가 고려된 Hamilton의 원리를 적용하고 무차원화 된 운동방정식 및 유한요소 정식화 과정을 제시한다. 유도된 행렬운동방정식을 이용하여 외팔보(Beck's column)의 고유치해석에 의한 정적좌굴(divergence) 및 동적 좌굴하중(flutter load)을 산정하고 $Newmark-{\beta}$법에 의해서 시간응답해석을 실시한다. 이러한 해석법을 이용한 매개변수연구를 통하여 전단변형 및 회전관성효과, 비보존력의 방향파라미터에 대한 임계하중의 영향, 그리고 내적 및 외적 감쇠하중의 영향이 비보존력계의 동적 안정성에 미치는 영향을 분석한다.

• 한국산업융합학회 논문집
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• 제18권3호
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• pp.181-190
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• 2015

This paper presents a new approach to control the position of robot arm in workspace a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme was applied. Since parameters of the robot arm such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters was considered as a external disturbance force. To identify the known parameters, an improved robust control algorithm is directly derived from the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using SCARA arm with four joints.

• 대한기계학회논문집
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• 제17권11호
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• pp.2762-2772
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• 1993

The paper deals with the flutter of a cantilevered beam subjected to a rocket thrust generated by a solid rocket motor. It is saaumed that the rocket thrust is to be a constant follower thrust, and produced by the installation of a solid rocket motor to the tip end of the cantilevered beam. The rocket motor is considered to be a rigid body having finite sizes, but not a mass point as it has been assumed so far. Governing equations are derived through the extended Hamilton's principle, and finite element method is applied to obtain the theoretical prediction for critical follower thrust. The maximum follower thrust is also calculated through the change of shear deformation parameter of the beam in the numerical simulation. The theoretical prediction for flutter or stability is verified by experiment. The experimental results show that critical follower thrust in theory agrees well with the experimental value taking account of the magnitude, rotary inertia of the rocket motor and the distance from the tip end of the beam to the center of gravity of the rocket motor.

• Geomechanics and Engineering
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• 제14권1호
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• pp.19-27
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• 2018

It follows from the basic principles of mechanics of deformable solids relating to the strength, stability and propagation of elastic waves that the Earth's inner core cannot exist in the form of a spherical structure in the assumed thermobaric conditions and calculation values of physico-mechanical parameters. Pressure level reaches a value that is significantly greater than the theoretical limit of medium strength in the model approximations at the surface of the sphere of the inner core. On the other hand, equilibrium state of the sphere is unstable on the geometric forming at much lower loads under the influence of the "dead" surface loads. In case of the action of "follower" loads, the assumed pressure value on the surface of the sphere is comparable with the value of the critical load of "internal" instability. In these cases, due to the instability of the equilibrium state, propagation of homogeneous deformations becomes uneven in the sphere. Moreover, the elastic waves with actual velocity cannot propagate in such conditions in solid medium. Violation of these fundamental conditions of mechanics required in determining the physical and mechanical properties of the medium should be taken into account in the integrated interpretations of seismic and laboratory (experimental) data. In this case, application of the linear theory of elasticity and elastic waves does not ensure the reliability of results on the structure and composition of the Earth's core despite compliance with the required integral conditions on the mass, moment of inertia and natural oscillations of the Earth.

• 한국정밀공학회지
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• 제18권10호
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• pp.194-199
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• 2001

In this paper, we propose a new locomotive mechanism using impulsive force for microcapsule-type endoscope. It has the compact size for movement in the colon and actuating mechanisms for hi-directional movement. The actuating mechanism resembles a pneumatic cylinder and consists of body, inertia mass(piston). spring. pneumatic source and calve. When valve is ON, the pneumatic impulsive force between piston and body drives them in two opposite direction. As the air in the body is passed away, the contrary movements are occurred by spring reaction. Therefore, the direction of body's motion is determined by the relative magnitude of two opposite impulsive forces, i.e., pneumatic and spring force. The effect of two impulsive forces can simply be controlled by On-Off time of solenoid valve.

• 대한기계학회논문집
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• 제10권5호
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• pp.689-697
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• 1986

본 연구에서는 3자유도(3방향의 병진운동만 고려) 고무마운트모형의 타당성을 검증하기 위하여, 먼저 고무자체의 물성치인 강성계수와 감쇠계수를 진동수와 초기변 형률에 따라 실험을 통해 구하였다. 질량행렬의 모든요소를 쉽게 구할 수 있는 간단 한 시험구조물을 제작하고 여기에 고무아운트를 부착하여 6자유도를 갖는 모의 엔진- 마운트계를 구성한 후 가진실험을 통해 얻은 오무드 매개변수들과 고무의 물성치를 이 용한 컴퓨터 시뮬레이션의 결과를 비교함으로써 고무아운트 모형의 타당성을 검증하였 다. 특히 본 연구에는 유압가진 실험으로부터 얻은 실험결과를 바탕으로 고무의 강 성계수를 주파수의 1차함수로 고려한 경우와 전진동수 영역에서 균일하다고 가정하는 경우를 비교하였다.

• Tribology and Lubricants
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• 제34권1호
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• pp.9-15
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• 2018

Modern high-performance automotive turbochargers (TCs) implement ceramic hybrid angular contact ball bearings in series with squeeze film dampers (SFDs) to enhance transient responses, thereby reducing the overall emission levels. The current study predicts the rotordynamic responses of the commercial automotive TCs (compressor wheel diameter = ~53 mm, turbine wheel diameter = ~43 mm, and shaft diameter at the bearing locations = ~7 mm) supported on ball bearings and SFDs for various design parameters of SFDs, including radial clearance, axial length, lubricant viscosity, and rotor imbalance conditions (i.e., amplitudes and phase angles) while increasing rotor speed up to 150 krpm. This study validates the predictive rotor finite element model against measurements of mass, polar and transverse moments of inertia, and free-free mode natural frequencies and mode shapes. A nonlinear rotordynamic model integrates nonlinear force coefficients of SFDs to calculate the transient responses of the TC rotor-bearing system. The predicted results show that SFD radial clearances, as well as phase angles of rotor imbalances, have the paramount effect on the dynamic responses of TC shaft motions.

• PNF and Movement
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• 제5권1호
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• pp.49-56
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• 2007

Objectives : We find that the reaction force on the elbow joint during elbow flexion, extension with and without an object in the hand can be calculated the equations of motion that the sum of the torque and the sum of the force acting on the elbow joint must be zero and (moment of inertia x angular acceleration) and (mass x acceleration). Methods : we have calculated the equations of motion (${\Sigma}F=0$, ${\Sigma}{\tau}=0$, ${\Sigma}F=ma$, ${\Sigma}{\tau}=Ia$) to investigate the reaction force on the elbow joint during elbow flexion, extension by means of the simplified free-body technique for coplanar forces. Results : we found that the reaction force on the elbow joint during elbow flexion, extention as constant acceleration motion is more than constant velocity, static motion. Also, we found that the relation between during flexion and during extension like this ; $J_{flexion}$ < $J_{extension}$.

• 대한기계학회논문집
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• 제16권12호
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• pp.2298-2305
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• 1992

본 연구에서는 보의 종방향 강성치를 실제보다 훨씬 작은 횡방향 강성치 수준 으로 낮추어 시간 적분을 수행하는 대신, 종방향에 작용하는 힘을 분산시켜서 계산시 종방향 상대 변형을 억제하는 기법을 사용하였다. 또 여러개의 물체가 조인트에서 서로 연결되어 이루어진 다물체 도역학의 해는 운동 방정식과 기구학적 제한조건을 모 두 만족시켜야 하며, 상미분 방정식 해법용 시간 적분을 바로 적용할 수는 없다. 본 논문에서는 참고문헌(13)과 (14)에 소개된 반복계산법 및 계산가속기법에 의하여 Lag- range multiplier를 운동 방정식에서 소거한 후 시간 적분을 수행하는 방법을 사용한 다.