• Proceedings of the KSME Conference
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• 2003.11a
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• pp.1718-1723
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• 2003

This paper presents a computational method for deformation modes of a flexible body in multibody system from the experimental modal analysis and an efficient method for flexible multibody dynamic analysis by use of the modes. It is difficult to directly use experimental modal parameters in flexible multibody dynamic analysis. The major reasons are that there are many inconsistencies between experimental and analytical modal data and experimental noises are inherent in the experimental data. So two methods, such as, a method for ortho-normalization of experimental modes and the other one for mode expansion, are suggested to gain deformation modes of a flexible body from the experimental modal parameters. Using the virtual work principle, the equation of motion of a flexible body is derived. The effectiveness of the proposed method will be verified in the numerical example of cab vibration of a truck by comparing analysis and test results.

• Transactions of the Society of Information Storage Systems
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• v.5 no.1
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• pp.19-35
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• 2009

The present work is an experimental and analytical study on a flexible disk rotating close to a rigid rotating disk in open air. In the analytical study, the air flow in the gap between the flexible disk and the rigid disk is modeled using Navier-Stokes and continuity equations while the flexible disk is modeled using the linear plate theory. The flow equations are discretized using the cell centered finite volume method (FVM) and solved numerically with semi-implicit pressure-linked equations (SIMPLE algorithm). The spatial terms in the disk equation are discretized using the finite difference method (FDM) and the time integration is performed using fourth-order Runge-Kutta method. An experimental test-rig is designed to investigate the dynamics of the flexible disk when rotating close to a co-rotating, a counter-rotating and a fixed rigid disk, which works as a stabilizer. The effects of rotational speed, initial gap height and inlet-hole radius on the flexible disk displacement and its vibration amplitude are investigated experimentally for the different types of stabilizer. Finally, the analytical and experimental results are compared.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2010.11a
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• pp.707-710
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• 2010

The most important things in the KSLV-I Kick Motor nozzle is a development of flexible seal that is utilized to drive a movable nozzle. Especially, a manufacturing technology of flexible seal is one of the key element in the Kick Motor nozzle development. The method used to produce flexible seal in the Kick Motor is injection method. Mold design technology, rubber injection technic and molding process through flexible seal manufacture has been established. After manufacturing, X-Ray inspection have been carried out to confirm a adhesive and internal array of flexible seal.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.1329-1332
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• 2007

In this study, the design method of flexible wing model for gust response measurement wind tunnel test was presented. The design concept proposed herein was validated by modal testing of the flexible wing model manufactured. In addition, aeroservoelastic modeling method for flexible wing model was presented and validated by comparing the gust response analysis results from the method proposed herein with those of commercial software. The gust response characteristics of the flexible wing model was studied by wind tunnel test for measuring the flexible wing gust response due to the induced gust excitation by gust generator. The aeroservoelastic modeling methods proposed and the wind tunnel test results obtained in this study can be applied for wind tunnel testing of the flexible wing for gust response alleviation.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• Structural Engineering and Mechanics
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• v.37 no.5
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• pp.475-487
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• 2011

In a flexible multi-body dynamic system the typical topological optimization method for structures cannot be directly applied, as the stiffness varies with position. In this paper, the topological optimization of the flexible multi-body dynamic system is converted into structural optimization using the equivalent static load method. First, the actual boundary conditions of the control system and the approximate stiffness curve of the mechanism are obtained from a flexible multi-body dynamical simulation. Second, the finite element models are built using the absolute nodal coordination for different positions according to the stiffness curve. For efficiency, the static reanalysis method is utilized to solve these finite element equilibrium equations. Specifically, the finite element equilibrium equations of key points in the stiffness curve are fully solved as the initial solution, and the following equilibrium equations are solved using a reanalysis method with an error controlled epsilon algorithm. In order to identify the efficiency of the elements, a non-dimensional measurement is introduced. Finally, an improved evolutional structural optimization (ESO) method is used to solve the optimization problem. The presented method is applied to the optimal design of a die bonder. The numerical results show that the presented method is practical and efficient when optimizing the design of the mechanism.

• Journal of Power System Engineering
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• v.2 no.1
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• pp.45-51
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• 1998

An analyzing method for pressure fluctuations in oil hydraulic pipe network was developed in this study. The object pipe network has multi-branch configuration, and the pipelines of it are composed of metal tubes and flexible hoses. Transfer matrix method, in other words impedance method, was used for the analysis. Values of physical parameters describing the characteristics of flexible hose were measured by experiments and reflected to the analysing procedure. The reliability and usefulness of the analyzing method were confirmed by investigating computed results and experimental results got in this study.

• Transactions of Materials Processing
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• v.19 no.8
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• pp.486-493
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• 2010

A shape error of the sheet metal product made by a flexible stretch forming process is occurred by a various forming parameters. A die used in the flexible stretch forming is composed of a punch array to obtain the various objective surfaces using only one die. But gaps between the punches induce the shape error and the defect such as a scratch. Forming parameters of the punch size and the elastic pad to prevent the surface defect must be considered in the flexible die design process. In this study, tendency analysis of shape error according to the forming parameters in the flexible stretch process is conducted using a finite element method. Three forming parameters, which are the punch size, the objective curvature radius and the elastic pad thickness, are considered. Finite element modeling using the punch height calculation algorithm and the evaluation method of the shape error, which is a representative value for the formability of formed surface, are proposed. Consequently, the shape error is in proportion to the punch size and is out of proportion to the objective curvature radius and the elastic pad thickness.

• Journal of Mechanical Science and Technology
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• v.19 no.spc1
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• pp.265-271
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• 2005

Randomness exists in engineering. Tolerance, assemble-error, environment temperature and wear make the parameters of a mechanical system uncertain. So the behavior or response of the mechanical system is uncertain. In this paper, the uncertain parameters are treated as random variables. So if the probability distribution of a random parameter is known, the simulation of mechanical multibody dynamics can be made by Monte-Carlo method. Thus multibody dynamics simulation results can be obtained in statistics. A new concept called functional reliability is put forward in this paper, which can be defined as the probability of the dynamic parameters(such as position, orientation, velocity, acceleration etc.) of the key parts of a mechanical multibody system belong to their tolerance values. A flexible mechanical arm with random parameters is studied in this paper. The length, width, thickness and density of the flexible arm are treated as random variables and Gaussian distribution is used with given mean and variance. Computer code is developed based on the dynamic model and Monte-Carlo method to simulate the dynamic behavior of the flexible arm. At the same time the end effector's locating reliability is calculated with circular tolerance area. The theory and method presented in this paper are applicable on the dynamics modeling of general multibody systems.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.