• Journal of Mechanical Science and Technology
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• 제16권6호
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• pp.810-818
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• 2002

When the contribution of lightweight components to the total energy of a system is small, tole inertia effects are sometimes ignored by replacing them to massless links. For example, a revolute-spherical massless link generates two kinematic constraint equations between adjacent bodies and allows four relative degrees of freedom. In this paper, to implement a massless link systematically in a computer program using the velocity transformation technique, the velocity transformation matrix of massless links is derived and numerically implemented. The velocity transformation matrix for a revolute-spherical massless link and a revolute-universal massless link are appeared as a 6$\times$4 matrix and a 6$\times$3 matrix, respectively. A massless link model in a suspension composite joint transmitting external forces is also developed and the numerical efficiency of the proposed model is compared to a conventional multibody model. For a massless link transmitting external forces, forces acting on links are resolved and transmitted to the attached points with a quasi-static assumption. Numerical examples are presented to verify the formulation.

• Journal of Advanced Marine Engineering and Technology
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• 제28권3호
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• pp.482-492
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• 2004

Recently. the market trend for marine diesel engine has involved the lower running speeds. larger stroke/bore ratio and higher combustion pressure. Consequently, because of the flexible engine shafting system due to the larger mass. inertia and the more elasticity, the complicated coupled torsional-axial vibrations have occurred in the operating speed range. Also, the vibrations act as an excitation on the hull-structural vibration. To predict the vibration behavior with more accuracy and reliability. many studies have proposed the several kinds of method to calculate the stiffness matrix of crankshaft. However, most of these methods have a weak point to spend much time on three dimensional modeling and meshing work for crankshaft. Therefore. in this work. the stiffness matrix for the crankthrow is calculated using the energy method (Influence Coefficient Method, ICM) with the each mass having 6 degree of freedom. Its effectiveness is verified through the comparison with the stiffness matrix obtained by using the finite element method (FEM) and measured results for actual ships propulsion system.

• Journal of Advanced Marine Engineering and Technology
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• 제16권5호
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• pp.77-84
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• 1992

In the most of acoustic system with low flow rate and low pressure level, one-dimensional, linear modeling techniques are used very well. At low frequency, the tube is modeled as inertia element and cavity as capacitance element, and to extend the range of frequency normal mode oscillators are represented. Bond graph modelling techniques are proposed to predict TL (Transmission Loss) and time response which is impossible by transfer matrix in muffler system. A simple acoustic filter which consists of several tubes and cawities is analyzed in both time and frequency domain.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.419-423
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• 1996

These days, industrial robots are required to have high speed and high precision in doing various tasks. Recently, the adaptive control algorithms for those nonlinear robots have been developed. With spatial vector space, these adaptive algorithms including recursive implementation are simply described. Without sensing joint acceleration and computing the inversion of inertia matrix, these algorithms which include P.D. terms and feedforward terms have global tracking convergence. In this paper, the feasibility of the proposed control method is illustrated by applying to 2 DOF SCARA robot in DSP(Digital Signal Processing).

• 기계저널
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• 제16권2호
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• pp.77-83
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• 1976

A computer aided design of a Stephenson type of Chained six-link mechanism with synthesis equations of the precision positions technigue to generate a required point path is presented. Analysis of this mechanism is carried out by the matrix method. The torque on the input link required to operate the mechanism was obtained by considering inertia and gravity forces of the coupler link.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1990년도 봄 학술발표회 논문집
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• pp.12-17
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• 1990

Stepped bean with immovable ends for large amplitude of vibration including effects of longitudinal displacement, shear deformation and rotary inertia is investigated for free and forced vibration using finite element method. Modified harmonic force matrix is introduced for analysis of vibration with finite amplitude of the stepped beam under uniform hamonic loading and beam with nonuniform harmonic loading. Numerical examples of stepped beam with various support conditions are analysed for deflections and natural frequencies. Results show that the proposed method is valid and efficient.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1994년도 봄 학술발표회 논문집
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• pp.128-136
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• 1994

In this study, dynamic boundary element method using mass matrix is derived, using fundamental solutions for the semi-infinite domain. In constituting boundary integral equations for the dynamic equilibrium condition, inertia term in the form of domain integral is transformed into boundary integral form. Corresponding system equations are derived, and a boundary element program is developed. In addition, equations for free vibration is formulated, and eigenvalue analysis is performed. The results from the dynamic boundary element analysis for a tunnel problem are compared with those from the finite element analysis. According to the comparison, boundary element method using mass matrix is consistent with the results of finite element method. Consequently, in tunnel vibration problems, it results in reasonable solution compared with other methods where relatively higher degree of freedoms are employed.

• Journal of Advanced Marine Engineering and Technology
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• 제10권4호
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• pp.31-40
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• 1986

With the tendency toward high speed and high pressure in centrifugal pumps, the problem of sub-synchronous vibration has arisen, caused by the hydraulic forces of the working fluid, such as wearring, balance piston, impeller, etc.. These forces can drastically alter the rotor critical speeds and stability characteristics, and can be acted significant destabilizing forces. For preventing such self-excited vibration, the desing of the rotor system needs, which would secure the stability of the machine. In this paper, a procedure is presented for dynamic modeling of rotor-bearing-seal-impeller systems which consist of rigid disks, distributed parameter finite rotor elements and discrete bearings, seals and impellers. A finite element model including the effects of rotatory inertia and gyroscopic moments is developed using the consistent matrix approach. The technique of dynamic matrix reduction is applied to the shaft matrices to reduce them to a set of matrices of dynamic of significantly fewer degrees of freedom. The representation of bearing, seal and impeller elements is in term of linearized stiffness and damping matrices by reasonably small perturbations from equilibrium. The stability behavior of a typical double suction centrifugal pump is presented. Results show the influence of clearance and flow conditions on running speeds and stability characteristics.

• 한국해양공학회지
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• 제8권1호
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• pp.71-83
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• 1994

The axial and torsional coupled vibration of marine propeller shafts can be mainly caused by actual shape of the crank shaft and hydrodynamic forces and moments due to propellers : the former leads to stiffness matrix coupling and the latter leads to inertia and damping matrix coupling. In the present paper the characteristics of the coupled vibration of marine propeller shafts due to hydrodynamic coupling is investigated in details. First, the modelling procedure of the system and analysis technique are also developed. To verify the present method the numerical calculations were also performed. Finally, the results were compared with existing data in the literature and it was found to be in good agreement.

• 대한전기학회논문지
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• 제38권12호
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• pp.983-994
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• 1989

This paper presents a new variable structure model following control algorithm for control of manipulators. The reference model is a simple double integrators and the acceleration input for the robot manipulator consists of a proportional and derivative controller for the purpose of trajectory tracking. The control algorithm is derived by using Lyapunov stability theory instead of S.S < O, as is usual in the current VSS controller design. This proposed control algorithm does not require good knowledge of the parameter in the inertia matrix and is easily extendable to robot manipulators with a higher number of links. Also, the new algorithm is computationally fast because of not requiring the matrix inversion. The computer simulation was carried out to evaluate the performance of the proposed VSMFC.