• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.3
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• pp.235-240
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• 2011

A flexible hose attached to a mother ship experiences various motions that depend on the movement of the mother ship and that of underwater vehicle. Although the motion of the hose is a very important factor that determines how a mother ship should be steered in a real situation, it is difficult to experimentally obtain information about the hose motion. Therefore, we study the motion of the hose analytically. The ANCF(absolute nodal coordinate formulation) was used to model the hose, because this formulation can relax the Euler-Bernoulli theory and the Timoshenko beam theory and allow the deformation of the cross section. The mother ship is assumed to be a rigid body with 6 degrees of freedom. The motion of the hose is predominantly affected by the behavior of the mother ship and by the fluid flow.

• 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.

• 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.

• 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.

• 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.