• 로봇학회논문지
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• 제12권3호
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• pp.332-338
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• 2017

As an interpretation of existing jamming effects, the main variables affecting the increase in stiffness due to jamming are known as system density, jamming density, pressure, and particulate temperature. The main variable, jamming density, is closely related to the distribution of particle size and contact properties such as particle shape and friction. However, the complexity of these variables makes it difficult to fully understand the mechanism of the jamming effect. In this paper, we focus on the jamming effects of particles that have more elastic properties than particles such as sand and coffee powder, which are commonly used as constituent particles of existing jamming, in order to reduce complicated factors such as temperature and concentrate on jamming effects based on elastic characteristics of particles. It was experimentally explored the possibility of increasing stiffness by mixing particles of different sizes rather than simply increasing the bending stiffness by controlling the particle size. Through simulations and experiments, we found a case where the stiffness of each particle size distribution is larger than the stiffness of each particle size.

• 로봇학회논문지
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• 제12권3호
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• pp.263-269
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• 2017

Recently, soft robots using soft materials are presented. Thanks to soft materials, soft robots have flexible, highly-stretchable or adaptable features. However, due to the flexibility of soft material, it is hard for soft robots to control accurately or perform high force. To deal with these limitations, variable stiffness technology, which enables the stiffness control of structure, has been developed. In this research, a dual-stiffness structure that is actuated by the assembly of two flexible structures are presented. Each flexible structure consists of flexible film part and rigid parts placed at regular intervals. The flexibility of film between rigid parts allows each structure to move softly. On the other hand, by combining two structures rigid part of each part constrain the degrees of freedom of the other side part. And this causes the stiffness of whole structure to be increased. This paper will cover concepts, design, analysis and experiments of this structure.

• Structural Engineering and Mechanics
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• 제8권3호
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• pp.243-256
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• 1999

Using appropriate transformations, the differential equation for flexural free vibration of a cantilever bar with variably distributed mass and stiffness is reduced to a Bessel's equation or an ordinary differential equation with constant coefficients by selecting suitable expressions, such as power functions and exponential functions, for the distributions of stiffness and mass. The general solutions for flexural free vibration of one-step bar with variable cross-section are derived and used to obtain the frequency equation of multi-step cantilever bars. The new exact approach is presented which combines the transfer matrix method and closed form solutions of one step bars. Two numerical examples demonstrate that the calculated natural frequencies and mode shapes of a 27-storey building and a television transmission tower are in good agreement with the corresponding experimental data. It is also shown through the numerical examples that the selected expressions are suitable for describing the distributions of stiffness and mass of typical tall buildings and high-rise structures.

• Steel and Composite Structures
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• 제33권1호
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• pp.1-18
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• 2019

In the present study, the behavior of steel plate shear walls (SPSW) with variable column flexural stiffness is experimentally and numerically investigated. Altogether six one-bay one-story specimens, three moment resisting frames (MRFs) and three SPSWs, were designed, fabricated and tested. Column flexural stiffness of the first specimen pair (one MRF and one SPSW) corresponded to the value required by the design codes, while for the second and third pair it was reduced by 18% and 36%, respectively. The quasi-static cyclic test result indicate that SPSW with reduced column flexural stiffness have satisfactory performance up to 4% story drift ratio, allow development of the tension field over the entire infill panel, and cause negligible column "pull-in" deformation which indicates that prescribed minimal column flexural stiffness value, according to AISC 341-10, might be conservative. In addition, finite element (FE) pushover simulations using shell elements were developed. Such FE models can predict SPSW cyclic behavior reasonably well and can be used to conduct numerical parametric analyses. It should be mentioned that these FE models were not able to reproduce column "pull-in" deformation indicating the need for further development of FE simulations with cyclic load introduction which will be part of another paper.

• 한국전산구조공학회논문집
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• 제14권3호
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• pp.329-337
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• 2001

본 연구에서는 무단변속시에 사용되며, 세 개의 유성기어로 구성된 복합유성기어가 기어의 회진시 비선형적인 기어의 강성과 감쇠를 고려하여 모델링 되었고, 복합유성기어의 운동 방정식이 유도되었다. 소음과 진동의 원인인 선기어의 중심궤적이 구하여진 상태방정식에 4차 룬게-쿠타 수치해석 방법을 수행함으로써 구하였다.

• Smart Structures and Systems
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• 제24권3호
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• pp.303-317
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• 2019

Magneto-rheological fluid (MRF) rotatory dampers are normally used for controlling the constant rotation of machines and engines. In this research, such a device is proposed to act as variable stiffness device to alleviate the rotational oscillation existing in the many engineering applications, such as motor. Under such thought, the main purpose of this work is to characterize the nonlinear torque-angular displacement/angular velocity responses of an MRF based variable stiffness device in oscillatory motion. A rotational hysteresis model, consisting of a rotatory spring, a rotatory viscous damping element and an error function-based hysteresis element, is proposed, which is capable of describing the unique dynamical characteristics of this smart device. To estimate the optimal model parameters, a modified whale optimization algorithm (MWOA) is employed on the captured experimental data of torque, angular displacement and angular velocity under various excitation conditions. In MWOA, a nonlinear algorithm parameter updating mechanism is adopted to replace the traditional linear one, enhancing the global search ability initially and the local search ability at the later stage of the algorithm evolution. Additionally, the immune operation is introduced in the whale individual selection, improving the identification accuracy of solution. Finally, the dynamic testing results are used to validate the performance of the proposed model and the effectiveness of the proposed optimization algorithm.

• Structural Engineering and Mechanics
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• 제68권2호
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• pp.183-191
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• 2018

In this paper, harmonic responses of infilled multi-storey frames are obtained by using a single variable shear deformation theory (SVSDT) and dynamic stiffness formulations. Two different planar frame models are used which are fully infilled and soft storey. The infill walls are modeled by using equivalent diagonal strut approach. Firstly, free vibration analyses of bare frame and infilled frames are performed. The calculated natural frequencies are tabulated with finite element solution results. Then, harmonic response curves (HRCs) of frame models are plotted for different infill wall thickness values. All of the results are presented comparatively with Timoshenko beam theory results to reveal the effectiveness of SVSDT which considers the parabolic shear stress distribution along the frame member cross-sections.

• 한국정밀공학회지
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• 제19권12호
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• pp.109-119
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• 2002

In this paper, mechanism design of optical pickup actuator for fast access is proposed. This actuator is composed of moving magnet type actuator and moving coil type actuator for tracking and fine motion, respectively. Moving magnet type tracking actuator is configurated by two permanent magnets and four air-core solenoids. Additional damper by induced current in tracking actuator can reduce the transient vibration between the coarse seeking servo and fine seeking servo. Variable stiffness can be acquired by applying current to air-core solenoid simply. This actuator can achieve fast access by these additional damper and stiffness. Performance of this actuator is predicted through the FEM, simulation and simple experiment. Settling time for transient vibration is reduced to 14.7% according to simulation result.

• Structural Engineering and Mechanics
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• 제57권1호
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• pp.141-159
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• 2016

Bearing joint dynamic parameter identification is crucial in modeling the high speed spindles for machining centers used to predict the stability and natural frequencies of high speed spindles. In this paper, a hybrid method is proposed to identify the dynamic stiffness of bearing joint for the high speed spindles. The hybrid method refers to the analytical approach and experimental method. The support stiffness of spindle shaft can be obtained by adopting receptance coupling substructure analysis method, which consists of series connected bearing and joint stiffness. The bearing stiffness is calculated based on the Hertz contact theory. According to the proposed series stiffness equation, the stiffness of bearing joint can be separated from the composite stiffness. Then, one can obtain the bearing joint stiffness fitting formulas and its variation law under different preload. An experimental set-up with variable preload spindle is developed and the experiment is provided for the validation of presented bearing joint stiffness identification method. The results show that the bearing joint significantly cuts down the support stiffness of the spindles, which can seriously affects the dynamic characteristic of the high speed spindles.

• 한국소음진동공학회논문집
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• 제11권8호
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• pp.374-383
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• 2001

A reciprocating compressor unit with variable rotating speed driven by BLDC motor is mounted Inside hermetic chamber on an internal suspension composed of 4 roil springs and a discharge pipe. A method for predicting the dynamic behavior of compressor body is required for a reduction of transmitted vibrations. The mechanical characteristics of spring and discharge pipe stiffness properties have been obtained from experimental tests and mass moment of inertia of the compressor body iron CAD. To confirm the vibration model for the compressor body, free vibration analyses are performed with theoretical and experimental methods. results for analytical investigations on the dynamic behavior of the compressor body and the transmitted forces to the hermetic chamber through the suspension elements are Presented.