• 대한기계학회논문집
• /
• 제15권6호
• /
• pp.2015-2025
• /
• 1991

본 연구에서는 무거운 부하중량(payload)을 운반하는 평행구동기구(parallel drive mechanism)를 가진 2 자유도 수직 로봇 조작기의 마지막 링크를 고속화 및 작업 영역의 확대를 위해 경량의 길이가 긴 링크로 구성하고, 동적 해석 및 제어를 위해 이 를 수직면상에서 회전하는 첨단질량을 가진 Euler-Bernoulli 외팔보로 모델링하였다. Hamilton의 원리를 적용하여 계의 지배방정식을 구하였으며 이를 조작기의 최종 자세 (configuration)에 대한 교란변수들(periturbed variables)을 도입하여 이산시간계 상 태방정식으로 표시하였다. 계의 상태방정식에 대해 디지탈 최적제어 및 최적관측기 이론을 적용하여, 유연한 조작기의 위치 및 진동제어를 병해하여 수행하는 제어기를 설계하였으며, 제어기의 효율성 및 적용성을 검토하기 위하여 수치해석 및 실험을 행 하였고 이들 결과를 비교, 검토하였다.

• 한국전자통신학회논문지
• /
• 제7권5호
• /
• pp.1139-1144
• /
• 2012

산업용 로봇의 하중률은 1대 10에서 1대 30이고, 3대 1의 하중률을 가지는 인간과 비교하여 매우 낮다. 다음 세대 로봇의 목표 중에 하나는 하중률이 될 것이고, 이것은 가벼운 로봇을 개발함으로 가능할 것이다. 2관절 유연한 로봇팔은 관절 축을 회전할 때 진동이 발생한다. 본 논문에서는 유연한 로봇팔의 진동 동력학은 오일러 베르누이의 보 이론과 라그랑지 방정식을 이용하여 구하였고, $\dot{D}-2C$가 skew symmetric이다는 사실을 사용하여, 계산량을 줄이는 리아프노프 안정도 이론을 이용한 단순한 구조의 새로운 제어기를 제안한다. 2링크 유연한 로봇에 대한 확정적인 적응제어 법칙을 제안하고, 시뮬레이션을 통하여 그 타당성을 보인다.

• 대한기계학회논문집B
• /
• 제26권12호
• /
• pp.1738-1746
• /
• 2002

In the FSI (Fluid-Structure Interaction) problems, two different governing equations are to be solved together. One is fur the fluid and the other for the structure. Furthermore, a kinematic constraint should be imposed along the boundary between the fluid and the structure. We use the combined formulation, which incorporates both the fluid and structure equations of motion into a single coupled variational equation so that it is not necessary to calculate the fluid force on the surface of structure explicitly when solving the equations of motion of the structure. A two-dimensional channel flow divided by a Bernoulli-Euler beam is considered and the dynamic response of the beam under the influence of channel flow is studied. The Navier-Stokes equations are solved using a P2P1 Galerkin finite element method with ALE (Arbitrary Lagrangian-Eulerian) algorithm. The internal structural damping effect is not considered in this study and numerical results are compared with a previous work fer steady case. In addition to the Reynolds number, two non-dimensional parameters, which govern this fluid-structure system, are proposed. It is found that the larger the dynamic viscosity and density of the fluid are, the larger the damping of the beam is. Also, the added mass is found to be linearly proportional to the density of the fluid.

• 한국소음진동공학회논문집
• /
• 제20권5호
• /
• pp.453-459
• /
• 2010

In this paper, the purpose is to investigate the stability of cracked cantilever T-beams subjected to axial force. In addition, an analysis of the natural frequency of a cracked beams as crack position, crack depth and tip mass is investigated. Based on the Euler-Bernoulli beam theory, the equation of motion is derived by the energy expressions using extended Hamilton's Principle. The crack is assumed to be in the first mode of fracture and to be always opened during the vibrations. The results of this study will contribute to the safety test and stability estimation of structures of a cracked T-beams subjected to axial force.

• 천문학회지
• /
• 제37권5호
• /
• pp.471-476
• /
• 2004

We propose an analytical model to estimate the influence of a merger on the thermal SZ effect. Following observations we distinguish between subsonic and transonic mergers. Using analytical velocity fields and the Bernoulli equation we calculate the excess pressure around a moving subcluster for an incompressible subsonic gas. Positive excess around the stagnation point and negative excess on the side of the subcluster lead to characteristic signatures in the SZ map, of the order of $10\%$ compared to the unperturbed signal. For a transonic merger we calculate the change in the thermal spectral SZ function, resulting from bow shock accelerated electrons. The merger shock compression factor determines the power law tail of the new non-thermal electron population and is directly related to a shift in the crossover frequency. This shift is typically a few percent towards higher frequencies.

• 한국해양공학회지
• /
• 제28권4호
• /
• pp.324-330
• /
• 2014

In this study, the numerical model developed by Hong et al.(2008) was improved to be applied to rapidly varying flows such as the inundation of dry land or flow transitions due to large gradients of the bathymetry. A numerical approximation was applied that was consistent with the conservation of momentum in flow expansions and with the Bernoulli equation in flow contractions. The approximation was second order, but the accuracy reduced to first order near extreme values by the use of a minmod limiter. The modified model was verified by acomparison with the theoretical critical depth of weir, and for sufficiently smooth conditions and a fine grid size, both approximations converged to the same solution. In terms of the grid size, it was more effective at obtaining solutions than the previous model and reproduced the inundation of dry land.

• Journal of applied mathematics & informatics
• /
• 제26권1_2호
• /
• pp.45-60
• /
• 2008

Here we consider the evaluation of the the dynamic component of the second order force due to wave diffraction by a circular cylinder analytically and numerically. The cylinder is fixed, vertical, surface piercing in water of finite uniform depth. The formulation of the wave-structure interaction is based on the assumption of a homogeneous, ideal, incompressible, and inviscid fluid. The nonlinearity in the wave-structure interaction problem arises from the free surface boundary conditions, namely, dynamic and kinematic free surface boundary conditions. We expand the velocity potential and free surface elevation functions in terms of a small parameter and then consider the second order diffraction problem. After deriving the pressure using Bernoulli's equation, we obtain the analytical expression for the dynamic component of the second order force on the cylinder by integrating the pressure over the wetted surface. The computation of the dynamic force component requires only the first order velocity potential. Numerical results for the dynamic force component are presented.

• 한국항공우주학회지
• /
• 제36권12호
• /
• pp.1139-1145
• /
• 2008

로터 블레이드의 구조변형을 포함한, 제자리 비행하는 로터 블레이드의 공력해석을 수행하였다. 와류포획능력을 향상시킨 전산유체 코드와 간단한 오일러-베르누이 보 모델에 기반을 둔 구조역학 방정식을 결합시켜 회전익 유동에 대한 연계 계산을 수행하였으며 계산결과 타당한 로터블레이드 구조변형 및 공력특성을 얻었다.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2002년도 춘계학술대회 논문집
• /
• pp.297-300
• /
• 2002

In this study, the deformation of the free surface motion of a magnetic fluid for the change in electromagnetic force is discussed and carried out theoretically and experimentally on the basis of Rosensweig Ferrohydrodynamic Bernoulli Equation. While applied magnetic fields are induced by 4$\times$4 electromagnet located under the magnetic fluid, the surface of the magnetic fluid is formed the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body farce. In case, magnetic fluid in characteristics of fluid adjusted to the opposite direction of the gravity direction. thus, the device of a magnetic fluid proposed the surface actuator. The device of surface deformation as well comparison between numerical simulation and experiments as will be presented.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2006년도 추계학술대회논문집
• /
• pp.801-804
• /
• 2006

The purpose of this paper is to investigate the stability of stepped cantilever columns with a tip mass of rotatory inertia and a translational spring at one end. The column model is based on the Bernoulli-Euler theory which neglects the effects of rotatory inertia and shear deformation. The governing differential equation for the free vibration of columns with stepwise variable cross-section and subjected to a subtangential follower force is solved numerically using the corresponding boundary conditions. And the bisection method is used to calculate the critical divergence/flutter load. The frequency and critical divergence/flutter load for the stepped column with a single step are presented as functions of various non-dimensional system parameters: the segmental length parameter, the section ratio, the subtangential parameter, the mass, the moment of inertia of the mass, and the spring parameter.