• 한국기계가공학회지
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• 제19권6호
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• pp.61-66
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• 2020

For simple and repetitive transport tasks in limited spaces such as in factories, it is more efficient to use mobile robots instead of human workers. For this reason, the reliance on mobile robots is increasing due to the increased implementation of smart factories. Currently, the structural design of the Mecanum wheel is required to ensure the stability of the moving robot since it is used for the transport of not only small products but also large products. In this paper, to improve the stability and durability of the Mecanum wheel, ways to improve the structure of the Mecanum wheel are presented. Then, using the Castigliano theorem, the structural stability is reviewed through the deflection on existing and improved structures.

• Advances in nano research
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• 제12권2호
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• pp.139-150
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• 2022

This paper presents sets of explicit analytical equations that compute the static displacements of nanobeams by adopting the nonlocal elasticity theory of Eringen within the framework of Euler Bernoulli and Timoshenko beam theories. Castigliano's theorem is applied to an equivalent Virtual Local Beam (VLB) made up of linear elastic material to compute the displacements. The first derivative of the complementary energy of the VLB with respect to a virtual point load provides displacements. The displacements of the VLB are assumed equal to those of the nonlocal beam if nonlocal effects are superposed as additional stress resultants on the VLB. The illustrative equations of displacements are relevant to a few types of loadings combined with a few common boundary conditions. Several equations of displacements, thus derived, matched precisely in similar cases with the equations obtained by other analytical methods found in the literature. Furthermore, magnitudes of maximum displacements are also in excellent agreement with those computed by other numerical methods. These validated the superposition of nonlocal effects on the VLB and the accuracy of the derived equations.

• Structural Engineering and Mechanics
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• 제54권1호
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• pp.189-198
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• 2015

We present a torsion analysis of single-bent leaf flexure that is partially restrained, subject to a torsional load. The theoretical equations for the torsional angle are derived using Castigliano's theorem. These equations consider the partially restrained warping, and are verified using finite element analysis (FEA). A sensitivity analysis over the length, width, and thickness is performed and verified via FEA. The results show that the errors between the theory result and the FEA result are lower than 6%. This indicates that the proposed theoretical torsional analysis with partially restrained warping is sufficiently accurate.

• Steel and Composite Structures
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• 제46권3호
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• pp.293-318
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• 2023

This study aims to examine the elastic stiffness properties of Elliptic-Braced Moment Resisting Frame (EBMRF) subjected to lateral loads. Installing the elliptic brace in the middle span of the frames in the facade of a building, as a new lateral bracing system not only it can improve the structural behavior, but it provides sufficient space to consider opening it needed. In this regard, for the first time, an accurate theoretical formulation has been developed in order that the elastic stiffness is investigated in a two-dimensional single-story single-span EBMRF. The concept of strain energy and Castigliano's theorem were employed to perform the analysis. All influential factors were considered, including axial and shearing loads in addition to the bending moment in the elliptic brace. At the end of the analysis, the elastic lateral stiffness could be calculated using an improved relation through strain energy method based on geometric properties of the employed sections as well as specifications of the utilized materials. For the ease of finite element (FE) modeling and its use in linear design, an equivalent element was developed for the elliptic brace. The proposed relation was verified by different examples using OpenSees software. It was found that there is a negligible difference between elastic stiffness values derived by the developed equations and those of numerical analysis using FE method.

• 한국전산구조공학회논문집
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• 제23권3호
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• pp.283-288
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• 2010

모바일 하버용 크레인은 항만 부두에 설치되어 있는 일반 지상식 크레인과는 달리 소형 경량 구조를 요구한다. RORI 크레인은 이러한 요구조건을 만족시키기 위해 고안된 신개념의 모바일 하버용 크레인 시스템으로서 해상에서 컨테이너 상하역 작업을 고속으로 처리할 수 있을 뿐만 아니라 운항 시에는 완전히 접을 수 있도록 되어 있다. 본 연구는 컨테이너 상하역 작업에 따른 RORI 크레인의 수평붐 끝단 처짐량 분석에 관한 내용으로, 카스틸리아노 정리를 이용한 이론적인 방법과 유한요소법에 의한 수치해석적인 방법을 적용하였다. 두 기법으로 구한 끝단 처짐량을 비교분석함으로써 유한요소해석의 타당성을 입증하고, 케이블의 초기장력에 따른 끝단 처짐량 변화특성을 파라메트릭하게 분석하였다.

• Steel and Composite Structures
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• 제45권3호
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• pp.437-454
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• 2022

Elliptic-braced simple resisting frame as a new lateral bracing system installed in the middle bay of frame in building facades has been recently introduced. This system not only creates a problem for opening space from the architectural viewpoint but also improves the structural behavior. Despite the researches on the seismic performance of lateral bracing systems, there are few studies performed on the effect of the stiffness parameters on the elastic story drift and calculation of period in simple braced steel frames. To overcome this shortcoming, in this paper, for the first time, an analytical solution is presented for calculating elastic lateral stiffness in a simple steel frame equipped with elliptic brace subjected to lateral load. In addition, for the first time, in this study, a precise formulation has been developed to evaluate the elastic stiffness variation in a steel frame equipped with a two-dimensional single-story single-span elliptic brace using strain energy and Castigliano's theorem. Thus, all the effective factors, including axial and shear loads as well as bending moments of elliptic brace could be considered. At the end of the analysis, the lateral stiffness can be calculated by an improved and innovative relation through the energy method based on the geometrical properties of the employed sections and specification of the used material. Also, an equivalent element of an elliptic brace was presented for the ease of modeling and use in linear designs. Application of the proposed relation have been verified through a variety of examples in OpenSees software. Based on the results, the error percentage between the elastic stiffness derived from the developed equations and the numerical analyses of finite element models was very low and negligible.

• 한국지반환경공학회 논문집
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• 제2권4호
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• pp.15-27
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• 2001

본 연구에서는 유한요소해석을 통해 파형강판 암거의 단면력(압축력, 휨모멘트) 계산식을 제안하였다. 3단계의 시공과정(정점부까지의 뒷채움, 토피고까지의 뒷채움, 활하중 재하)에 대해 지반-구조물 상호작용을 고려한 거동분석으로부터 최대 압축력 및 최대 휨모멘트 발생조건을 도출하였고, 이러한 거동분석 결과와 반원 아치구조에 대한 Castigliano 제2정리의 적용으로부터 단면력식의 형태를 제안하였다. 또한, 최대 압축력 및 최대 휨모멘트를 유발하는 조건하에서 다양한 기하형태와 지반-구조물의 상대강성을 고려한 유한요소해석 결과로부터 제안된 단면력식을 구성하는 계수를 결정하였다.

• 대한기계학회논문집A
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• 제21권1호
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• pp.180-187
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• 1997

A formula for estimating the elastic stiffness of TW-HDS with a uniformly tapered width from w$_{0}$ to w$_{1}$ over the length, has been analytically derived based on Euler beam theory and Castigliano's theorem. Elastic stiffnesses of the TW-HDSs designed in the same dimensional design spaces as the KOFA HDSs have been estimated from the derived formula, in addition, a sensitivity study on the elastic stiffness of the TW-HDSs has been carried out. Analysis results show that elastic stiffnesses of the TW-HDSs have been by far higher than those of the KOFA HDSs, and that, as the effects of axial and shear force on the elastic stiffness have been 0.15-0.21%, most of the elastic stiffness is attributed to the bending moment. As a result of sensitivity analysis, the elastic stiffness sensitivity at each design variable is quantified and design variables having remarkable sensitivity are identified. Among the design variables, leaf thickness is identified as that of having the most remarkable sensitivity of the elastic stiffness.

• 대한기계학회논문집A
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• 제39권10호
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• pp.995-999
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• 2015

자기유도(inductive) 센서는 원리가 간단하고 경제적이어서 변위, 힘, 압력 등 다양한 물리량 측정에 사용된다. 본 논문에서는 고리 모양의 강판과 코일로 이루어진 간단한 구조의 자기유도 센서를 제안하였다. 센서의 인덕턴스를 자기회로 방법을 이용하여 추정하고 유한요소 해석을 통해 검증하였다. 고리의 고유 진동수를 Castigliano 정리와 등가 질량 방법을 이용하여 추정하고 실험 및 유한요소 해석을 통해 검증하였다. 기계적 진동에 영향을 주지 않도록 센서의 가진 주파수를 결정하였으며, 구동 및 신호처리 회로를 설계하여 센서를 제작하였다. 제작된 자기유도 센서를 유연관 내부의 유체 압력을 비침습적으로 측정하는데 활용하였다. 압력과 센서 출력 간의 관계를 이차식 형태로 표현하면 2% 이내의 정확도로 압력을 측정할 수 있어 압력 센서로서의 가능성을 확인하였다.

• 한국소음진동공학회논문집
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• 제15권6호
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• pp.667-673
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• 2005

This paper shows a method for design of the nano-positioning planar scanner used in the scanning probe microscope. The planar scanner is composed of flexure guides, piezoelectric actuators and feedback sensors. In the design of flexure guides, the Castigliano's theorem was used to find the stiffness of the guide. The motion amplifying mechanism was used in the piezoelectric actuator to achieve a large travel range. We found theoretically the travel range of the total system and verified using the commercial FEM(finite element method) program. The maximum travel range of the planar scanner is above than 140 $\mu$m. The 3 axis positioning capability was verified by the mode analysis using the FEM program.