• 한국소음진동공학회논문집
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• 제15권5호
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• pp.620-628
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• 2005

In this paper, we studied about the dynamic behavior of a cracked rotating cantilever beam. The influences of a rotating angular velocity, the crack depth and the crack position on the dynamic behavior of a cracked cantilever beam have been studied by the numerical method. The equation of motion is derived by using the Lagrange's equation. The cracked cantilever beam is modeled by the Euler-Bernoulli beam theory. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations. The lateral tip-displacement and the axial tip-deflection of a rotating cantilever beam is more sensitive to the rotating angular velocity than the depth and position of crack. Totally, as the crack depth is increased, the natural frequency of a rotating cantilever beam is decreased in the first and second mode of vibration. When the crack depth is constant, the natural frequencies of a rotating cantilever beam are proportional to the rotating angular velocity in the each direction.

• 한국소음진동공학회논문집
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• 제15권5호
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• pp.586-594
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• 2005

In this paper, we studied about the effects of the rotating cantilever pipe conveying fluid with a moving mass. The influences of a rotating angular velocity, the velocity of fluid flow and moving mass on the dynamic behavior of a cantilever pipe have been studied by the numerical method. The equation of motion is derived by using the Lagrange's equation. The cantilever pipe is modeled by the Euler-Bernoulli beam theory. When the velocity of a moving mass is constant, the lateral tip-displacement of a cantilever pipe is proportional to the moving mass and the angular velocity. In the steady state, the lateral tip-displacement of a cantilever pipe is more sensitive to the velocity of fluid than the angular velocity, and the axial deflection of a cantilever pipe is more sensitive to the effect of a angular velocity. Totally, as the moving mass is increased, the frequency of a cantilever pipe is decreased in steady state.

• 한국소음진동공학회논문집
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• 제12권2호
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• pp.132-140
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• 2002

A simply supported pipe conveying fluid and the moving masses upon it constitute this vibrational system. The equation of motion is derived by using Lagrange's equation. The influence of the velocity and the inertia force of the moving masses and the velocities of fluid flow in the pipe have been studied on the dynamic behavior of a simply supported pipw by numerical method. The velocities of fluid flow are considered within its critical values of the simply supported pipe without the moving masses upon it. Their coupling effects on the transverse vibration of a simply supported pipe are inspected too. The dynamic deflection of the simply supported pipe conveying fluid is increased by a coupling of the moving masses and the velocities of the moving masses and the fluid flow. When four or five regular interval masses move on the simply supported pipe conveying fluid, the amplitude of the simply supported pipe conveying fluid is small at low velocity of the masses, but at high velocity of the masses the deflection of midspan of the pipe is increased by coupling with the numbers and magnitude of the masses. The time which produce the maximum dynamic deflection of the simply supported pipe is delayed according to the increment of the number of moving masses.

• 한국해양공학회지
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• 제15권2호
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• pp.135-140
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• 2001

A simply supported pipe conveying fluid and a moving mass upon it constitute a vibrational system. The equation of motion is derived by using Lagrange's equation. The influence of the velocity and the inertia force of a moving mass and the velocities of fluid flow in the pipe have been studied on the dynamic behavior of a simply supported pipe by numerical method. The velocities of fluid low are considered within its critical values of the simply supported pipe without a moving mass upon it. Their coupling effects on the transverse vibration of a simply supported pipe are inspected too. as the velocity of a moving mass increases, the deflection of midspan of a simply supported pipe conveying fluid is increased and the frequency of transverse vibration of the pipe is not varied. Increasing of the velocity of fluid flow makes the frequency of transverse vibration of the simply supported pipe conveying fluid decrease and the deflection of midspan of the pipe increase. The deflection of the simply supported pipe conveying fluid is increased by a coupling of the moving mass and the velocities of a moving mass and fluid flow.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger 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's 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. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.356-359
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• 2007

In this paper, the stability of a rotating cantilever pipe conveying fluid with a crack is investigated by the numerical method. That is, the influences of the rotating angular velocity, mass ratio and crack severity on the critical flow velocity for flutter instability of system are studied. The equations of motion of rotating pipe are derived using the Euler beam theory and the Lagrange's equation. The crack section of pipe is represented by a local flexibility matrix connecting two undamaged pipe segments. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations. Generally, the critical flow velocity for flutter is proportional to the angular velocity and the depth of crack. Also, the critical flow velocity and stability maps of the rotating pipe system as a function of mass ratio for the changing each parameter are obtained.

• International Journal of Precision Engineering and Manufacturing
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• 제2권2호
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• pp.48-56
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• 2001

This paper presents the position tracking control of a closed-loop cylinder system using electro-rheological (ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system, Sliding mode controllers are the designed for these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• 한국정밀공학회지
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• 제17권3호
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• pp.165-173
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• 2000

This Paper presents the position tracking control of a closed-loop cylinder system using electro-rheological(ER) valve actuators. After manufacturing three sets of cylindrical ER valves on the basis of Bingham model of ER fluid, a 3 dof(degree-of-freedom) closed-loop cylinder system having the heave, roll and pitch motions is constructed. The governing equations of motion are derived using Lagrange's equation and a control model is formulated by considering nonlinear characteristics of the system. Sliding mode controllers are then designed fer these ER valve actuators in order to achieve position tracking control. The effectiveness of trajectory tracking control performance of the proposed cylinder system is demonstrated through computer simulation and experimental implementation of the sliding mode controller.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.565-568
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• 1995

This paper presents the position control of a closed-loop cylinder system using ER(electro-rheological)valve actuators. Following the field-dependent pressure analysis of the ER valve actuators on the basis of Bingham model of ER fluids, a 3 d.o.f. close-loop sylinder system having the heave, roll and pitch motions is proposed. The governing equations of motion are derived using Lagrange's equation, and a control model is established by considering system uncertain parameters such as load conditions. A sliding mode controller which has inherent robustness to system uncertainties is adopted to achieve robust tracking control performance. Tracking control results for sinusoidal trajectory were presented in order to demonstrate the effectiveness of the proposed control system.

• 한국정밀공학회지
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• 제29권10호
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• pp.1119-1127
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• 2012

In this paper, we present an inverse kinematics of a 7-dof Anthropomorphic robot arm using conformal geometric algebra. The inverse kinematics of a 7-dof Anthropomorphic robot arm using CGA can be computed in an easy way. The geometrically intuitive operations of CGA make it easy to compute the joint angles of a 7-dof Anthropomorphic robot arm which need to be set in order for the robot to reach its goal or the positions of a redundant robot arm's end-effector. In order to choose the best solution of the elbow position at an inverse kinematics, optimization techniques have been proposed to minimize an objective function while satisfying the euler-lagrange equation.