• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.3
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• pp.36-41
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• 2020

Mechanical systems installed in transport devices, such as vehicles, airplanes, and ships, are mostly subject to translational accelerations at the joints during operations. This base acceleration excitation has a large influence on the performance of the system, therefore, its response must be well analyzed. However, the existing methods for dynamic analysis of structures have some limitations in use. This study presents a new numerical method using relative acceleration to solve these limitations. If the governing equation of motion is linear and the mass matrix, the damping matrix, and the stiffness matrix are constant over time in the finite element analysis, the proposed method can be applied to the transient behavior analysis and the harmonic response analysis of the structure. Because it is not necessary to introduce a virtual mass and the rigid body motions are removed from the analysis, it is possible to use not only the direct integration method in the time domain but also the mode superposition method to obtain the dynamic responses. This paper demonstrates with three examples how the present method is suitable for the dynamic analysis of a structure with multi-degree of freedom.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.4
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• pp.422-434
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• 1997

In this paper, a two-stage kinematic optimal design for a 3 degree of-freedom (DOF) excavator subsystem, which consists of boom, arm and bucket, is performed. The objective of the first stage is to find the optimal parameters of the joint-actuating mechanisms which maximize the force-torque transmission ratio between the hydraulic actuator and the rotating joint. The objective of the second stage is to find the optimal link parameters which maximize the isotropic characteristic of the excavator subsystem throughout the workspace. It is illustrated that kinematic/dynamic performances of the kinematically optimized excavator subsystem have improved compared to those of original HE280 excavator, with respect to three performance indices such as maximum load handling capacity, maximum velocity capability, and acceleration capability.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.10a
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• pp.501-508
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• 2000

It is demanded to find the dynamic model of a real structure to design a controller. However, as the structure has inherently infinite number of degree-of-freedom, it is impossible to obtain an exact dynamic model of the structure. Instead a reduction model with finite degree-of-freedom is used for the design of a controller. So there exists uncertainty between a real model and a reduction model which causes poor performance of control. All these uncertainties can degrade the control performance and even cause the control instability. Thus, robust control strategy considering the above uncertainties can be an alternative one to guarantee the performance and stability of the control. This study deals with the experimental verification of robust controller design for the active mass driver. $\mu$-synthesis technique is employed as a robust control strategy. Some weights are chosen based on the difference between the initial plant with which the controller is designed and the perturbed plant to be controlled having the actuator uncertainty. The robustness of $\mu$-synthesis technique is compared with the result of LQG strategy, which does not consider the uncertainty.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1997.10a
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• pp.143-150
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• 1997

Generally, the problem of vertical vibration of structure is generated slab. Analysis of space framed structures with slab for vertical vibration requires more efficient modeling and analysis technique, because number of elements lead to more complicated model with many degree of freedom which requires large amount of computing resources for dynamic analysis. This paper propose an efficient analysis method for vertical vibration of space framed structure with slab. At first, proposed model is selected minimum joints and degree of freedom which are acquired sufficient dynamic response to the vertical vibration. Secondly, super-elements that are made a number of element are used for simple input data and fast analysis.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.4
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• pp.216-226
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• 1993

Three dimensional cutting is considered as an equivalent orthogonal cutting through the plane containing both the cutting velocity vector and the chip flow velocity vector in dynamic cutting process. An analytical expression of dynamic cutting force is obtained from the cutting parameters determined by the static cutting. Particular attention is paid to the energy supplied to the vibratory system of cutting tool with two degree of freedom. In this approach, the phase lag of the horizontal vibration of the tool behind the vertical vibration and the direction angle of the fluctuating cutting force is considered in point of stability limits. Chatter vibration can be effectively suppressed by relatively increasing the spring constant and the damping coefficient of the cutting system in the vertical cutting force direction. A good agreement is found between the stability limits predicted by theoretical value and experimental results.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2000.04a
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• pp.357-366
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• 2000

Longitudinal dynamic behaviors of a bridge system under seismic excitations are examined with various magnitudes of peak ground accelerations. The stiffness degradation due to abutment-soil interaction is considered in the bridge model which may play the major role upon the global dynamic characteristics. The idealized mechanical model for the whole ridge system is proposed by adopting the multiple-degree-of-freedom system which can consider components such as pounding phenomena friction at the movable supports rotational and translational motions of foundations and the nonlinear pier motions. The abutment-soil interaction is simulated by utilizing the one degree-of-freedom system with nonlinear spring. The stiffness degradation of the abutment-soil system is found to increase the relative displacement under moderate seismic excitations.

• Journal of Aerospace System Engineering
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• v.2 no.1
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• pp.1-6
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• 2008

In this paper, full body modeling and analysis of nose and main landing gear's characteristics of a helicopter are performed using the dynamics analysis program ADAMS. Also, when land limiting about helicopter body's degree-of-freedom, compared the characteristics. In the case of helicopter, because there are a lot of dangerous missions under flight condition that is disadvantageous than fixed wing airplane, need more detailed research for a helicopter.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.4
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• pp.320-329
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• 2016

An implicit method of solving the six degree-of-freedom rigid body motion equations based on the second order Adams-Bashforth-Moulten method was utilised as an improvement over the leapfrog scheme by making modifications to the rigid body motion solver libraries directly. The implementation will depend on predictor-corrector steps still residing within the hybrid Pressure Implicit with Splitting of Operators - Semi-Implicit Method for Pressure Linked Equations (PIMPLE) outer corrector loops to ensure strong coupling between fluid and motion. Aitken's under-relaxation is also introduced in this study to optimise the convergence rate and stability of the coupled solver. The resulting coupled solver ran on a free floating object tutorial test case when converged matches the original solver. It further allows a varying 70%-80% reduction in simulation times compared using a fixed under-relaxation to achieve the required stability.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1993.10a
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• pp.49-54
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• 1993

The nonlinear dynamic characteristics of a two-degree-of-freedom beam-mass structure is investigated. The flexible L-shaped structure with a two-to-one internal resonance is subject to a primary resonance and the resulting planar dynamic responses are examined. A quadratic damping, which has been avoided to use because of the difficulties in the analysis, is considered to take into account the effect of viscous damping due to the surrounding fluid. The method of multiple scales is used to determine first-order approximations to the solutions. Force-response and frequency-response curves are generated.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.19-22
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• 1987

A program is developed for generations the dynamic equations for robotic manipulators using the symbolic language muSIMP/MATH. The muSIMP/MATH is a LISP-based computer algebra package, devoted to the manipulation of algebraic expressions including number, variables, functions, and matrix. The muSIMP/MATH can operate on IBM-PC compatibles with MS-DOS. The program is developed, on the e formalism. This is program is applicable to the manipulators of any number of degrees of freedom, maximum six degree of freedom in this program. To control robotic manipulators by using dynamic equation is required a symbolic equations. The generated dynamic equation can be applied directly to the robotic manipulators, for the generated dynamic equation is a reduced form of symbolic expression.