• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.114-119
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• 2002

The aim of this paper is to clarify the structural compliance of the constrained flexible manipulator and to develop the force control algorithm by using the compliance of the links. The proposed structural compliance control consists of the position control to utilize a flexible manipulator model (considering the compensation for the elastic deflection of links) and the passive force control to utilize the rigid manipulator model (without considering the compensation for the elastic deflection of links). We present the experimental results for the case when applying the only position control, and when applying the structural compliance control. Finally, a comparison between these results is presented to show the performance of our method.

• Structural Engineering and Mechanics
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• v.42 no.1
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• pp.1-12
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• 2012

In this study, Pasternak foundation model, which is a two parameter foundation model, is used to analyze the behavior of laterally loaded beams embedded in semi-infinite media. Total potential energy variation of the system is written to formulate the problem that yielded the required field equations and the boundary conditions. Shear force discontinuities are exposed within the boundary conditions by variational method and are validated by photo elastic experiments. Exact solution of the deflection of the beam is obtained. Both foundation parameters are obtained by self calibration for this particular problem and loading type in this study. It is shown that, like the first parameter k, the second foundation parameter G also depends not only on the material type but also on the geometry and the loading type of the system. On the other hand, surface deflection of the semi infinite media under singular loading is obtained and another method is proposed to determine the foundation parameters using the solution of this problem.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.4
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• pp.449-454
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• 2010

The force control of a constrained flexible manipulators has been one of the major research topics. However, a little effort has been devoted for the relation between friction force and elastic deflection of end-effector for a constrained flexible manipulator. So, the aim of this paper is to clarify the friction mechanism of a constrained spatial multi-link flexible manipulator by changing the material and connected method of end-effector. In this study, a concise hybrid position/force control scheme is applied to the control of a flexible manipulator, and the experimental results for the constrained vertical motion and constrained horizontal motion is presented. Finally a comparison between these results are presented to show the reduction of vibration of link and friction force.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1997.04a
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• pp.45-52
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• 1997

The elastic deflection of thin ice sheets due In bending and shear deformation is considered. The in-plane Young's modulus and the transverse shear modulus are calculated by least squres fit of transverse plate deflection data. Results show that thin ice plates behave predominantly in shear. Previously, the Young's moduli were calaulated based on bending theory alone. The Young's moduli of thin model ice sheets, estimated using the bending and shear theory, are more than an order of magnitude greater than calculated previously, and hence are more realistic. Further, the previous ambiguity in the Young's modulus, arising from fitting the data at various distances from the point of loading, is removed by considering shear and bending deformation.

• Journal of Mechanical Science and Technology
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• v.18 no.4
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• pp.622-629
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• 2004

In this paper, effects of elastic energy of magnetostrictive film on the deflection of a cantilevered film-substrate system are investigated. The total energy including the elastic energy of magnetostrictive film is formulated. And it is minimized to give the curvatures and the position of neutral axis of the cantilevered system. To discuss the effects of the elastic energy of film in a measured system, three magnetostrictive unimorph cantilevers and a bimorph cantilever reported elsewhere are reviewed. It is shown that the assumption, since the thickness of film is much smaller than that of substrate the film elastic energy is negligible, can cause considerable error in evaluating magnetostrictive coefficients. Not the ratio of thicknesses but elastic energies between film and substrate is also shown to play important role in making decision whether the assumption is valid or not.

• Structural Engineering and Mechanics
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• v.44 no.3
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• pp.405-416
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• 2012

In this study the investigation of large deflections subject in compliant mechanisms is presented using homotopy perturbation method (HPM). The main purpose is to propose a convenient method of solution for the large deflection problem in compliant mechanisms in order to overcome the difficulty and complexity of conventional methods, as well as for the purpose of mathematical modeling and optimization. For simplicity, a cantilever beam of linear elastic material under horizontal, vertical and bending moment end point load is considered. The results show that the applied method is very accurate and capable for cantilever beams and can be used for a large category of practical problems for the aim of optimization. Also the consequence of effective parameters on the large deflection is analyzed and presented.

• Nuclear Engineering and Technology
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• v.30 no.5
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• pp.387-395
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• 1998

In general, the laminated rubber bearing (LRB), a composite structure laminated with the elastic rubber and steel plates, has a complex hysteretic nonlinear characteristics in relationships between the restoring force and shear deflection. The representative nonlinear characteristics of LRB include the change of hysteresis loop with cyclic shear deflections and the hardening effects at large shear deflection regions. Changes of the hysteresis loop of LRB with cyclic shear deflections affect the horizontal stiffness and the damping characteristics. The hardening behavior of LRB in large shear deflection region results in an increased horizontal stiffness and therefore, has a great impacton the seismic responses. In this paper, the seismic response analysis is carried out using the modified hysteretic bi-linear model of LRB, which takes into account the hysteresis loop change and the hardening behavior with cyclic shear deflection. The results on seismic responses are compared with those obtained using the widely used hysteretic hi-linear model. The new model is found to reveal the greater amount of peak acceleration response.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.4
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• pp.565-573
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• 1999

Hihg Tensile Steel enables to reduce the plate thickness comparing to the case when Mild Steel is used. From the economical view points this is very preferable since the reduction in the hull weight. however to use the High Tensile Steel effectively the plate thickness may become thin so that the occurrence of buckling is inevitable and design allowing plate buckling may be necessary. If the inplane stiffness of the plating decreases due to buckling the flexural rigidity of the cross sect6ion of a ship's hull also decreases. This may lead to excessive deflection of the hull girder under longitudinal bending. In these cases a precise estimation of plate's behavior after buckling is necessary and nonliner analysis of isolated and stiffened plates is required for structural sys-tem analysis. In this connection this paper discusses nonlinear behaviour of thin plate under thrust. Based on the analytical method elastic large deflection analysis of isolated plate is perform and simple expression are derived to evaluated the inplane rigidity of plates subjected to uniaxial compression.

• Journal of Mechanical Science and Technology
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• v.20 no.10
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• pp.1646-1652
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• 2006

A model of mechanical behavior of microcantilever due to intrinsic strain during deposition of MEMS structures is derived. A linear ordinary differential equation is derived for the beam deflection as a function of the thickness of the deposited layer. Closed-form solutions are not possible, but numerical solutions are plotted for various dimensionless ratios of the beam stiffness, the intrinsic strain, and the elastic moduli of the substrate and deposited layer. This model predicts the deflection of the cantilever as a function of the deposited layer thickness and the residual stress distribution during deposition. The usefulness of these equations is that they are indicative of the real time behavior of the structures, i.e. it predicts the deflection of the beam continuously during deposition process.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.6
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• pp.816-825
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• 2004

In this work, effects of hyper-elastic rubber material properties on the indentation load-deflection curve and subindenter deformation are examined via finite element (FE) analyses. An optimal location for data analysis is selected, which features maximum strain energy density and negligible frictional effect. We then contrive two normalized functions, which map an indentation load vs. deflection curve into a strain energy density vs. first invariant curve. From the strain energy density vs. first invariant curve, we can extract the rubber material properties. This new spherical indentation approach produces the rubber material properties in a manner more effective than the common uniaxial tensile/com-pression tests. The indentation approach successfully measures the rubber material properties and the corresponding nominal stress-strain curve with an average error less than 3%.