• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.631-637
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• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.5
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• pp.819-827
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• 1997

In this paper, a new modeling of a fine actuator for an optical pick-up has been proposed and multiobjective optimization of the actuator has been performed. The fine actuator is constituted of the bobbin which is supported by wire suspension, the coils which wind around the bobbin, and the magnets which cause the magnetic flux. If current flows in the coils, magnetic force is so produced as to be balanced with spring force of wire, so the bobbin is pisitioned. In this model the transfer function from input voltage to output displacementof bobbin has been obtained so that we can describe this integrated system with electromagnetic and mechanical parts. Wire suspension is regarded as a continuous Euler beam, damper as distributed viscous damping, and bobbin as a rigid body which can move up- and down- ward motion only. According to the model, the high frequency dynamic characteristics of the fine actuator can be known and the effect of damping can be investigated while the conventional second order model cannot. In multiobjective optimization, two objective functions have been chosen to maximize the fundamental frequency and the sensitivity with respect to the input voltage of the actuator so that Pareto's optimal solutions have been obtained using .epsilon.-constraint method. These objective functions will satisfy the trends which will enhance the access speed and reduce the tracking error in the optical pick-up technology of next generation. In the result of optimization, we obtain the designs of the optical pick-up fine actuator which has high speed, high sensitivity and low resonant peak. Furthermore, we offer the relation between two object functions so that the designer can make easy choice.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.33 no.5
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• pp.279-286
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• 2020

In this study, we investigate the accuracy of higher order derivatives in the moving least square (MLS) difference method. An interpolation function is constructed by employing a Taylor series expansion via MLS approximation. The function is then applied to the mixed variational theorem in which the displacement and stress resultants are treated as independent variables. The higher order derivatives are evaluated by solving simply supported beams and cantilevers. The results are compared with the analytical solutions in terms of the order of polynomials, support size of the weighting function, and number of nodes. The accuracy of the higher order derivatives improves with the employment of the mean value theorem, especially for very high-order derivatives (e.g., above fourth-order derivatives), which are important in a classical asymptotic analysis.

• Bulletin of the Society of Naval Architects of Korea
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• v.18 no.1
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• pp.1-8
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• 1981

To contribute to the preventive measures against local vibrations of ship's deck panels, some investigations into the prediction method of the natural frequency of the vibration of stiffened plates were done. Firstly, an analytical method based on the orthotropic plate analogy and the Rayleigh method using eigenfunctions of the Euler beam was shown, and numerical results of a regularly stiffened plate were compared with experimental results. And then, the method was extended to stiffened plates having one or two irregular stiffeners to obtain an approximate formula showing the relation between the change of the natural frequency and the size of the irregular stiffeners. The latter case was investigated for the purpose of providing a convenient design manual applicable to cure of local resonant vibrations of ships' deck panels by additional reinforcement of one or two stiffeners. In the analytical development the boundary was assumed to be rigidly supported and elastically restrained against rotation. In the experiment, however, only an extreme case i.e. simply supported boundary was investigated. The results of the investigation show that there is a fairly good conformity between the analytical results and the experimental ones in the first case, and that the approximate formula for the second case is confirmed also to be reliable for the design purpose. Considering that actual boundary conditions of deck panels in ship structures lie mostly somewhere between the simple support and the fixed, the authors discussed problems of the joint efficiency at the boundary of deck panels from the viewpoint of the practical application of the formulae.

• Structural Monitoring and Maintenance
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• v.6 no.4
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• pp.317-346
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• 2019

Performance assessment of pavements proves useful, in terms of handling the ride quality, controlling the travel time of vehicles and adequate maintenance of pavements. Roughness profiles provide a good measure of the deteriorating condition of the pavement. For the accurate estimates of pavement roughness from dynamic vehicle responses, vehicle parameters should be known accurately. Information on vehicle parameters is uncertain, due to the wear and tear over time. Hence, condition monitoring of pavement requires the identification of pavement roughness along with vehicle parameters. The present study proposes a scheme which estimates the roughness profile of the pavement with the use of accurate estimates of vehicle parameters computed in parallel. Pavement model used in this study is a two-layer Euler-Bernoulli beam resting on a nonlinear Pasternak foundation. The asphalt topping of the pavement in the top layer is modeled as viscoelastic, and the base course bottom layer is modeled as elastic. The viscoelastic response of the top layer is modeled with the help of the Burgers model. The vehicle model considered in this study is a half car model, fitted with accelerometers at specified points. The identification of the coupled system of vehicle-pavement interaction employs a coupled scheme of an unbiased minimum variance estimator and an optimization scheme. The partitioning of observed noisy quantities to be used in the two schemes is investigated in detail before the analysis. The unbiased minimum variance estimator (MVE) make use of a linear state-space formulation including roughness, to overcome the linearization difficulties as in conventional nonlinear filters. MVE gives estimates for the unknown input and fed into the optimization scheme to yield estimates of vehicle parameters. The issue of ill-posedness of the problem is dealt with by introducing a regularization equivalent term in the objective function, specifically where a large number of parameters are to be estimated. Effect of different objective functions is also studied. The outcome of this research is an overall measure of pavement condition.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.11 s.104
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• pp.1287-1294
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• 2005

The purpose of this paper is to investigate free vibrations and critical loads of the Beck's columns with a tip spring, which carry a tip mass. The ordinary differential equation governing free vibrations of Beck's column subjected to a follower force is derived based on the Bernoulli-Euler beam theory Both the divergence and flutter critical loads are calculated from the load-frequency corves that are obtained by solving the differential equation numerically. The critical loads are presented in the figures as functions of various non-dimensional system parameters such as the subtangential parameter, mass ratio and spring parameter.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.31 no.6
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• pp.381-388
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• 2018

This paper presents a generalized finite element formulation for plastic hinge modeling based on lumped plasticity in the classical Euler-Bernoulli beam elements. In this approach, the plastic hinges are effectively modeled using proper enrichment functions describing weak discontinuities of the solution. The proposed methodology enables the insertion of plastic hinges at an arbitrary location without modifying the connectivity of elements. The formations of plastic hinges are instead achieved by hierarchically adding degrees of freedom to existing elements. Convergence analyses such as h- and p-extensions are performed to investigate the effectiveness of the proposed method. The analysis results indicate that the proposed generalized finite element method can achieve theoretical convergence rates for both cases where plastic hinges are located at nodes and within an element, thus demonstrating its accuracy.

• Structural Engineering and Mechanics
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• v.81 no.6
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• pp.715-728
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• 2022

A new type of buckling-restrained braces (BRBs) with a longitudinally profiled steel plate working as the core (LPBRB) is proposed and experimentally investigated. Different from conventional BRBs with a constant thickness core, both stiffness and strength of the longitudinally profiled steel core along its longitudinal direction can change through itself variable thickness, thus the construction of LPBRB saves material and reduces the processing cost. Four full-scale component tests were conducted under quasi-static cyclic loading to evaluate the seismic performance of LPBRB. Three stiffening methods were used to improve the fatigue performance of LPBRBs, which were bolt-assembled T-shaped stiffening ribs, partly-welded stiffening ribs and stiffening segment without rib. The experimental results showed LPBRB specimens displayed stable hysteretic behavior and satisfactory seismic property. There was no instability or rupture until the axial ductility ratio achieved 11.0. Failure modes included the out-of-plane buckling of the stiffening part outside the restraining member and core plate fatigue fracture around the longitudinally profiled segment. The effect of the stiffening methods on the fatigue performance is discussed. The critical buckling load of longitudinally profiled segment is derived using Euler theory. The local bulging behavior of the outer steel tube is analyzed with an equivalent beam model. The design recommendations for LPBRB are presented finally.

• Tribology and Lubricants
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• v.36 no.2
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• pp.105-115
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• 2020

This paper presents a numerical study on the rotordynamic analysis of a dual-spool turbofan engine in the context of blade defect events. The blades of an axial-type aeroengine are typically well aligned during the compressor and turbine stages. However, they are sometimes exposed to damage, partially or entirely, for several operational reasons, such as cracks due to foreign objects, burns from the combustion gas, and corrosion due to oxygen in the air. Herein, we designed a dual-spool rotor using the commercial 3D modeling software CATIA to simulate blade defects in the turbofan engine. We utilized the rotordynamic parameters to create two finite element Euler-Bernoulli beam models connected by means of an inter-rotor bearing. We then applied the unbalanced forces induced by the mass eccentricities of the blades to the following selected scenarios: 1) fully balanced, 2) crack in the low-pressure compressor (LPC) and high pressure compressor (HPC), 3) burn on the high-pressure turbine (HPT) and low pressure compressor, 4) corrosion of the LPC, and 5) corrosion of the HPC. Additionally, we obtained the transient and steady-state responses of the overall rotor nodes using the Runge-Kutta numerical integration method, and employed model reduction techniques such as component mode synthesis to enhance the computational efficiency of the process. The simulation results indicate that the high-vibration status of the rotor commences beyond 10,000 rpm, which is identified as the first critical speed of the lower speed rotor. Moreover, we monitored the unbalanced stages near the inter-rotor bearing, which prominently influences the overall rotordynamic status, and the corrosion of the HPC to prevent further instability. The high-speed range operation (>13,000 rpm) coupled with HPC/HPT blade defects possibly presents a rotor-case contact problem that can lead to catastrophic failure.