• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1045-1050
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• 2007

Equations of motion of rotating cantilever curved beams are derived based on a dynamic modeling method developed in this paper. The Kane's method is employed to derive the equations of motion. Different from the classical linear modeling method which employs two cylindrical deformation variables, the present modeling method employs a non-cylindrical variable along with a cylindrical variable to describe the elastic deformation. The derived equations (governing the stretching and the bending motions) are coupled but linear. So they can be directly used for the vibration analysis. The coupling effect between the stretching and the bending motions which could not be considered in the conventional modeling method is considered in this modeling method. The natural frequencies of the rotating curved beams versus the rotating speed are calculated for various radii of curvature and hub radius ratios.

• Smart Structures and Systems
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• 제19권6호
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• pp.695-703
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• 2017

In this paper, based on first-order shear deformation theory, the governing equations of motion for a sandwich curved beam including an elastic core and two piezo-magnetic face-sheets are presented. The curved beam model is resting on Pasternak's foundation and subjected to applied electric and magnetic potentials on the piezo-magnetic face-sheets and transverse loading. The five equations of motion are analytically solved and the bending and vibration results are obtained. The influence of important parameters of the model such as direct and shear parameters of foundation and applied electric and magnetic potentials are studied on the electro-mechanical responses of the problem. A comparison with literatures was performed to validate our formulation and results.

• 로봇학회논문지
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• 제6권4호
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• pp.323-333
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• 2011

Due to the limited pendulum motion range, the conventional one-pendulum driven spherical robot has limited driving capability. Especially it can not drive parallel direction with center horizontal axis to which pendulum is attached from stationary state. To overcome the limited driving capability of one-pendulum driven spherical robot, we introduce a spherical robot, called KisBot II, with a new type of curved two-pendulum driving mechanism. A cross-shape frame of the robot is located horizontally in the center of the robot. The main axis of the frame is connected to the outer shell, and each curved pendulum is connected to the end of the other axis of the frame respectively. The main axis and pendulums can rotate 360 degrees inside the sphere orthogonally without interfering with each other, also the two pendulums can rotate identically or independent of each other. Due to this driving mechanism, KisBot II has various motion generation abilities, including a fast steering, turning capability in place and during travelling, and four directions including forward, backward, left, and right from stationary status. Experiments for several motions verify the driving efficiency of the proposed spherical robot.

• Structural Engineering and Mechanics
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• 제19권1호
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• pp.73-96
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• 2005

For the spatially coupled free vibration analysis of shear deformable thin-walled non-symmetric curved beam subjected to initial axial force, an exact dynamic element stiffness matrix of curved beam is evaluated. Firstly equations of motion and force-deformation relations are rigorously derived from the total potential energy for a curved beam element. Next a system of linear algebraic equations are constructed by introducing 14 displacement parameters and transforming the second order simultaneous differential equations into the first order simultaneous differential equations. And then explicit expressions for displacement parameters are numerically evaluated via eigensolutions and the exact $14{\times}14$ dynamic element stiffness matrix is determined using force-deformation relations. To demonstrate the accuracy and the reliability of this study, the spatially coupled natural frequencies of shear deformable thin-walled non-symmetric curved beams subjected to initial axial forces are evaluated and compared with analytical and FE solutions using isoparametric and Hermitian curved beam elements and results by ABAQUS's shell elements.

• Journal of Advanced Marine Engineering and Technology
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• 제36권7호
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• pp.894-901
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• 2012

For more efficient use of the high pressure water-jet in rehabilitation of the water pipes, we have studied the water-jet cleaning motion of the in-pipe robot with screw drive. The mathematical models of the water-jet in the straight and the curved pipe (90 degrees elbow), representative features of the water mains, were designed to understand the water-jet motion and simulations have been performed. Furthermore the experiments has been conducted to validate the simulations by using the prototype in-pipe robot in the 3-D pipeline. The simulation results show that the water-jet motion in the straight pipe has a constant water-jet interval, whereas the motion in the curved pipe is changed by its position. By the comparison of the simulation and the experimental results, we have demonstrated that the simulations successfully estimate the water-jet motion inside the water pipes. Therefore in-pipe robot operators can predict a water-jet motion for a target water pipe through the simulation and flexibly make a proper water-jet motion by changing the robot configurations before a cleaning work.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1990년도 하계학술대회 논문집
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• pp.546-549
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• 1990

This study introduces the three-dimensional information about moving objects. Relative motion between textured objects and observer generates a time varying optic array at the image, from which image motion of contours can be extracted. Closed-form solutions are proposed for the structure and motion of planar and curved surface patches. The analytic solution for curved surface patches combines the transformation of Longuet-Higgins with the planar surface solution of Subbarao and Waxman. Ovoid patches are shown to construct a unique transform angle. Thus, ovoid patches almost always yield a unique 3D interpretation.

• Steel and Composite Structures
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• 제46권4호
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• pp.553-563
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• 2023

In the current research, the nonlinear free vibrations of curved pipes made of functionally graded (FG) carbon nanotube reinforced composite (CNTRC) materials are investigated. It is assumed that the FG-CNTRC curved pipe is supported on a three-parameter nonlinear elastic foundation and is subjected to a uniform temperature rise. Properties of the curved nanocomposite pipe are distributed across the radius of the pipe and are given by means of a refined rule of mixtures approach. It is also assumed that all thermomechanical properties of the nanocomposite pipe are temperature-dependent. The governing equations of the curved pipe are obtained using a higher order shear deformation theory, where the traction free boundary conditions are satisfied on the top and bottom surfaces of the pipe. The von Kármán type of geometrical non-linearity is included into the formulation to consider the large deflection in the curved nanocomposite pipe. For the case of nanocomposite curved pipes which are simply supported in flexure and axially immovable, the motion equations are solved using the two-step perturbation technique. The closed-form expressions are provided to obtain the small- and large-amplitude frequencies of FG-CNTRC curved pipes rested on a nonlinear elastic foundation in thermal environment. Numerical results are given to explore the effects of CNT distribution pattern, the CNT volume fraction, thermal environment, nonlinear foundation stiffness, and geometrical parameters on the fundamental linear and nonlinear frequencies of the curved nanocomposite pipe.

• Structural Engineering and Mechanics
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• 제89권1호
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• pp.13-22
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• 2024

The nonlinear snap-through buckling of functionally graded (FG) carbon nanotube reinforced composite (CNTRC) curved tubes is analytically investigated in this research. It is assumed that the FG-CNTRC curved tube is supported on a three-parameter nonlinear elastic foundation and is subjected to the uniformly distributed pressure and thermal loads. Properties of the curved nanocomposite tube are distributed across the radius of the pipe and are given by means of a refined rule of mixtures approach. It is also assumed that all thermomechanical properties of the nanocomposite tube are temperature-dependent. The governing equations of the curved tube are obtained using a higher-order shear deformation theory, where the traction free boundary conditions are satisfied on the top and bottom surfaces of the tube. The von Kármán type of geometrical non-linearity is included into the formulation to consider the large deflection in the curved tube. Equations of motion are solved using the two-step perturbation technique for nanocomposite curved tubes which are simply-supported and clamped. Closed-form expressions are provided to estimate the snap-buckling resistance of FG-CNTRC curved pipes rested on nonlinear elastic foundation in thermal environment. Numerical results are given to explore the effects of the distribution pattern and volume fraction of CNTs, thermal field, foundation stiffnesses, and geometrical parameters on the instability of the curved nanocomposite tube.

• 소성∙가공
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• 제20권3호
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• pp.206-213
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• 2011

A flexible die, which is composed of a number of punches with adjusted heights to form a three-dimensional curved surface, is a crucial part of a flexible forming technology. In this study, the punch and control system of the flexible die were designed. The flexible die is divided into three modules, namely, punch, control and joint, and the corresponding modules were developed. The punch module materializes a three-dimensional forming surface by the control module, which is composed of an AC servo motor set and a linear guide. The joint module is necessary for the sequential motion between the servo motor set and the punch module. A sequential motion algorithm for the AC servo motor set, that uses the data of the punch relative heights, was also proposed. Finally, a flexible stretch forming test was carried out using the presently designed flexible die.

• 한국전산유체공학회:학술대회논문집
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• 한국전산유체공학회 2004년도 추계 학술대회논문집
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• pp.203-206
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• 2004

In this study, a numerical analysis has been performed for a three-dimensional pulsatile blood flow associated with the elastic blood vessel and curved bileaflet for multiple cycles in terms of fluid-structure interaction. Here, blood has been assumed as a Newtonian, incompressible fluid. Pressure profiles have been used as boundary conditions at the ventricle and the aorta. From this analysis, the motion of the leaflet has been observed with fluttering phenomenon and rebound, and the flow fields of blood have been obtained with recirculation and regurgitation. The results can contribute to the development of design methodology for the curved bileaflet mechanical heart valve.