• Structural Engineering and Mechanics
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• v.29 no.6
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• pp.643-658
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• 2008

In this paper, we present a quadratic element model based on non-conforming displacement modes and modified shape functions. This new and refined 8-node hybrid stress plane element consists of two additional non-conforming modes that are added to the translational degree of freedom to improve the behavior of a membrane component. Further, the modification of the shape functions through quadratic polynomials in x-y coordinates enables retaining reasonable accuracy even when the element becomes considerably distorted. To establish its accuracy and efficiency, the element is compared with existing elements and - over a wide range of mesh distortions - it is demonstrated to be exceptionally accurate in predicting displacements and stresses.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.484-489
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• 1998

In this paper, we examine the displacement characteristics of the parallel leaf spring mechanism with large-deflective elastic hinges, and the validity of this mechanism as a translational and rotational mechanism is confirmed with multi-input system. This study is focused on the linear driving force as an input force, which is applied to the large-deflective elastic mechanism, and the displacement characteristics are discussed with theoretically and experimentally. The motions of this mechanism due to large-deflective hinges are changed by the position of loading force regardless of a single driving force. The numbers of degree of freedom are increased with the hinges, and we can be used to a multiple driving force in order to obtain many types of Output.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.1036-1041
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• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.253-259
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• 2002

The rigid body characteristics (value of mass, Position of center of mass, moments and products of inertia) of mechanical systems can be identified from FRF data or vibration spectra of rigid body motion. Therefore the accuracy of rigid body characteristics is connected directly with the accuracy of measured data for rigid body motions. In this paper, a method of improving accuracy of measurement of rigid body motion is presented. Applying rigid body theory, ail translational and rotational displacements at a tentative point on the rigid body are calculated using the measured translational displacements for several points and transfer matrix. Then the estimated displacements for the identical points are calculated using the 6 displacements of the tentative Point and transfer matrix. By using correlation coefficient between measured and estimated displacements, we can detect the existence of errors that are contained in a certain measured displacement. Consequently, the improved rigid body motion with respect to a tentative point can be obtained by eliminating the contaminated data.

• Journal of Power System Engineering
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• v.14 no.3
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• pp.33-38
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• 2010

Technology of vehicle industry has been developing and it is required a better vehicle performance than before. Therefore, the consumers are asking not only an economic efficiency, functionality, polished design, ride comfort and silence but also a driving stability. The ride comfort, silence and driving stability are influenced by the size of vehicle and various facilities. But the principal factor is a room noise and vibration sensed by a driver and passenger. Thus, the NVH of vehicle has been raised and used as a principal factor for evaluation of vehicle performance. The primary objective of this study is an optimized design of powertrain mounting system. To optimized design was applied MSC.Nastran optimization modules. Results of dynamic analysis for powertrain mounting system was investigated. By theses results, design variables was applied 12 dynamic spring constant. And the weighting factor according to translational displacement and rotational displacement applied 3 cases. The objective function was applied to minimize displacement of powertrain. And the design variable constraint was imposed dynamic spring constant ratio. The constraint of design variable for objective function was imposed bounce displacement for powertrain.

• Nuclear Engineering and Technology
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• v.33 no.6
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• pp.619-625
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• 2001

An axial-flow-induced vibration model was proposed for a rod supported by two translational springs at both ends. For developing the model, a one-mode approximation was made based on the assumption that the first mode was dominant in vibration behavior of the single span rod. The first natural frequency and mode shape functions for the flow-induced vibration, called the FIV model were derived by using Lagrange＇s method. The vibration displacements at reactor conditions were calculated by the proposed model for the spring-supported rod and by the previous model for the simple-supported(55) rod. As a result, the vibration displacement for the spring-supported rod was larger than that of the 55 rod, and the discrepancy between both displacements became much larger as flow velocity increased. The vibration displacement for the spring-supported rod appeared to decrease with the increase of the spring constant. AS flow velocity increased, the increase rate of vibration displacement was calculated to go linearly up, and that of the rod having the short span length was larger than that of the rod having the long span length although the displacement value itself of the long span rod was larger than that of the short one.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.04a
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• pp.213-217
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• 1993

This paper presents an end-point of 1-link flexible robot arm with a tip-mass by using self-turning fuzzy algorithm. The arm is mounted on a translational mechanism driven by a ballscrew, whose rotation is controlled by CD servomotor. Tip position is controlled so that it follows a desired position. A feedback signal is composed of both the tip-displacement error and change in error. This paper gives the experimental tip responses according to the variations of tip-mass and beam-length, and also showes the effects of reducing the residual vibrations occuring at the end-point.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1998.10a
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• pp.216-222
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• 1998

Effects of translational and rotational motions of the foundation on the dynamic behaviors of a bridge under seismic excitations are examined by utilizing a simplified 3 degree-of-freedom of system. To consider the nonlinear characteristics of the RC pier, a hysteresis model is adapted, which can simulate the inelastic motion of the pier with the stiffness degradation. From results, the portion of the total displacement due to rotational motion of the foundation becomes larger as applied seismic excitation increases.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.149-153
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• 2001

This paper presents an end-point control of 1-link flexible arm tip-mass by using fuzzy position control algorithm. The arm is mounted on a translational mechanism driven by a ballscrew, whose rotation is controlled by a DC servomotor. Tip position is controlled so that it follows a desired position. Feedback signal is composed of both tip displacement error and change of error. This paper gives tip responses according to the variations of tip-mass and beam length, and the effects of reducing the residual vibrations occurring at the end-point. In the case of the residual vibrations of tip displacement, fuzzy control has better results than the PD-control.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.5
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• pp.51-57
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• 2011

The lightweight and compact actuator with high power is required to perform motion with multiple degrees of freedom. To reduce the size and inertia of a robot manipulator, the mechanical transmission system is used. The shape memory alloy(SMA) is similar to the muscle-tendon-bone network of a human hand. However, there are some drawback and nonlinearity, such as the hysteresis and the stress dependence. In this paper, the design of the underactuated robot hand is studied. The 3-finger dexterous hand is driven by the SMA actuator using segmental mechanism. This digital approach enables to overcome the nonlinearity of SMA wire. The translational displacement of SMA actuator required to bend a phalanx of the underactuated robot hand is estimated and the bending angle of the underactuated robot hand according to input displacement of SMA actuator is predicted by the multi-body dynamic analysis.