• 한국정밀공학회지
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• 제13권12호
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• pp.106-113
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• 1996

This paper presents a modeling of undersea robot manipulators and a control scheme appropriate for manipulating the manipulators working under the unstrcuctured sea water environment. Under the sea, the added mass and added moment of inertia, buoyancy, and drag forces should be considered in modeling the dynamics of the robot manipulators. Due to the complexity of them, the desired dynamics of manipulators can not be accomplished by the conventional control schemes. Hence, a sliding mode control is applied to control the modeling error.

• Structural Engineering and Mechanics
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• 제45권1호
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• pp.69-93
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• 2013

The present study deals with the dynamics of the flapwise (out-of-plane) vibrations of a rotating, internally damped (Kelvin-Voigt model) tapered Bernoulli-Euler beam carrying a heavy tip mass. The centroid of the tip mass is offset from the free end of the beam and is located along its extended axis. The equation of motion and the corresponding boundary conditions are derived via the Hamilton's Principle, leading to a differential eigenvalue problem. Afterwards, this eigenvalue problem is solved by using Frobenius Method of solution in power series. The resulting characteristic equation is then solved numerically. The numerical results are tabulated for a variety of nondimensional rotational speed, tip mass, tip mass offset, mass moment of inertia, internal damping parameter, hub radius and taper ratio. These are compared with the results of a conventional finite element modeling as well, and excellent agreement is obtained.

• 해양환경안전학회지
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• 제21권5호
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• pp.538-542
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• 2015

선체의 횡관성모멘트는 선박의 횡운동 특성을 다루는 경우 제외될 수 없는 요소로서 그 크기의 적정성은 선체 동특성 해석의 결과와 신뢰성에 큰 영향을 미친다. 그러나 선박은 질량분포와 형상이 복잡하므로 이를 직접적인 계산을 통해 값을 구하기에는 과정이 매우 복잡하고 대상 선박의 구체적인 관련 자료를 얻기도 어렵다는 점에서 실용적으로는 선체 질량의 등가적 관성반경을 선체폭의 일정비율로 계산하는 간접적인 방법이 통용되고 있다. 한편, 어느 선체의 자유 횡운동이 나타내는 횡요 주기와 감쇠형태는 관성모멘트에 의해 영향을 받기 마련이고 따라서 이러한 응답의 결과적인 모양으로부터 역으로 해당 선박의 관성모멘트를 구하는 일반식의 도출이 가능할 것으로 유추될 수 있다. 본 연구에서는 관찰에 의한 선체의 횡요 주기는 경사각의 진폭 감쇠비에 의해서도 달라지는 관계를 해석하여 횡요 주기와 경사각 진폭 감쇠비 모두를 함수 인자로 포함하는 일반식에 의해 횡관성모멘트 크기가 구해질 수 있음을 나타내었다. 또한 이러한 일반식에 횡요 관찰 선박의 주요 제원을 적용하였을 때 나타나는 특성 그래프들을 분석한 결과 횡요주기뿐 아니라 진폭감쇠비가 함께 검토될 때 얻어지는 관성모멘트 값이 보다 정확해진다는 것을 확인하였다.

• 한국농공학회지
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• 제42권1호
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• pp.105-112
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• 2000

This paper deals with the free vibrations of columns immersed in fluid. The column model is based on the classical Bernoulli-euler theory which neblects the effects of rotatory inerital and shear deformation. The eccentricity and rotatory inertial of the concentrated mass at the top are taken into accuont. In the governing equation for the free vibration of column, thedensity of immersed part was midified to account for theadded fluid mass. The govering differential equations are solved numerically using the corresponding boundary conditions. The lowest four natural frequencies and corresponding mode shapes are calculated over a range of non-dimensional system parameters ; the mas density ration of fluid to column, the ratio of fluid depth to span length, the ratio of tip mass to total column mass, the dimensionless mass moment of inertia, and the eccentricity.

• 한국소음진동공학회논문집
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• 제20권4호
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• pp.405-413
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• 2010

The vibration characteristics of fully and partially embedded piles with flexibly supported end carrying an eccentric tip mass are investigated. The pile model is based on the Bernoulli-Euler theory and the soil is idealized as a Winkler model for mathematical simplicity. The governing differential equations for the free vibrations of such members are solved numerically using the corresponding boundary conditions. The lowest three natural frequencies and corresponding mode shapes are calculated over a wide range of non-dimensional system parameters: the rotational spring parameter, the relative stiffness, the embedded ratio, the mass ratio, the dimensionless mass moment of inertia, and the tip mass eccentricity.

• 한국소음진동공학회논문집
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• 제17권5호
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• pp.415-426
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• 2007

링크모션 펀치프레스는 많은 링크들이 서로 연결되어 있으며 각각의 링크는 고속에서 구속 운동을 수행한다. 그 결과 동적 불평형 힘과 모멘트가 프레스의 메인프레임으로 전달되며 원하지 않는 진동을 수반한다. 이로 인하여 생산성과 정확한 스탬핑 작업의 저하를 초래한다. 이 논문은 기구학 및 동역학 분석에 기초하여 링크모션 펀치프레스의 다이나믹 언발란스를 저감하는 효과적인 방법을 제시한다. 그리고 디자인 변화가 필요할 때마다 메커니즘의 모델 구성을 자동화하기 위한 디자인 변수 방식을 소개한다. 질량, 질량관성모멘트, 질량중심 등의 링크들의 관성 성질을 얻기 위하여 3차원 캐드 소프트웨어를 활용하였다. 메커니즘의 기구학적, 동역학적 거동에 주요한 영향을 미치는 일부 링크들의 디자인을 변화시킬 때 얻을 수 있는 다양한 조합에 대하여 동역학 시뮬레이션을 수행하였다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2008년도 추계학술대회논문집
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• pp.512-514
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• 2008

In this paper, a new electromagnetic circuit is proposed for an optical pickup actuator with high sensitivity. Contrary to those of conventional actuators, the proposed circuit has two focusing coils which are diagonally placed at the front and rear of a moving part. The configuration which makes the effective length of the focusing coil longer and the moving part lighter, is helpful in increasing the sensitivity of the actuator. However, the asymmetry of the moving part by two focusing coils causes flexible node vibrations in quite low frequency range. This paper shows that the design modification of the moving part for the reconfiguration of mass moment of inertia can reduce the mode vibrations.

• 한국항공운항학회지
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• 제18권4호
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• pp.30-37
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• 2010

This paper deals with attitude determination and parameter estimation problems for a lunar module. For this we first derive equations of motion for the lunar module by considering allocation locations (configurations) of reaction thruster and a reaction wheel assembly. The lunar module is assumed as a rigid body. In order to include the effect of fuel sloshing on the dynamics of the lunar module, we model it as a spherical pendulum for a simple analysis. For estimating angular rates and moment of inertia of the module, we employ an extended Kalman filter and the least mean square algorithms, respectively. Finally we construct a dynamical model for the lunar module by combining all these elements.

• 오토저널
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• 제10권2호
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• pp.39-45
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• 1988

The analytical model of an engine mount system with six degrees of freedom is identified using the modal parameters obtained from the experimental modal analysis. The structural parameters, mass moment of inertia of the engine block and stiffness of the rubber mounts, of the engine mount system are determined by using the condition that the estimated model parameters should satisfy the corresponding eigenvalue problem. The simulated modal parameters of the identified analytical model are in good agreement with the measured modal parameters.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 춘계학술대회 논문집
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• pp.427-431
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• 1996

A modeling of the dynamics of two cooperating robot manipulators doing assembly job such as peg-in-hole while coordinating the payload along the desired path is proposed. The system is uncertain due to the unknown mass and moment of inertia of the manipulators and the payload. To control the system, a robust control algorithm is proposed. The control algorithm includes fuzzylogic. By the fuzzy logic, the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation with keeping path tracking errors bounded.