• Transactions of the Korean Society of Mechanical Engineers
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• v.11 no.6
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• pp.923-934
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• 1987

A flexible one-link robotic manipulator is modelled as a rotating cantilever beam with a hub and tip mass. An active control law is developed with consideration of the distributed flexibility of the arm. Equation of motion is derived by Hamilton's principle and, for modal control, represented as state variable form using Galerkin's mode summation method. Feedback coefficients are chosen to minimize the linear quadratic performance index(PI). To reconstruct the complete state vector from the measurements, an observer is proposed. In order to suppress vibration of the manipulator arm to desirable extent and to obtain accuracy of the positioning, weighting factor of input in PI is adjusted. Spillover effect due to the controller which controls several important modes is examined. Experiment is also performed to validate the theoretical analysis.

• Steel and Composite Structures
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• v.32 no.5
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• pp.595-610
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• 2019

This paper deals with the static and dynamic behavior of Functionally Graded Carbon Nanotubes (FG-CNT)-reinforced porous sandwich (PMPV) polymer plate. The model of nanocomposite plate is investigated within the first order shear deformation theory (FSDT). Two types of porous sandwich plates are supposed (sandwich with face sheets reinforced / homogeneous core and sandwich with homogeneous face sheets / reinforced core). Functionally graded Carbon Nanotubes (FG-CNT) and uniformly Carbon Nanotubes (UD-CNT) distributions of face sheets or core porous plates with uniaxially aligned single-walled carbon nanotubes are considered. The governing equations are derived by using Hamilton's principle. The solution for bending and vibration of such type's porous plates are obtained. The detailed mathematical derivations are provided and the solutions are compared to some cases in the literature. The effect of the several parameters of reinforced sandwich porous plates such as aspect ratios, volume fraction, types of reinforcement, number of modes and thickness of plate on the bending and vibration analyses are studied and discussed. On the question of porosity, this study found that there is a great influence of their variation on the static and vibration of porous sandwich plate.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.2
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• pp.435-442
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• 2010

The analysis of rigid body traveling along the rotating Timoshenko shaft has been a topic of interest. The problem arose from the observations that as a structure is subjected to moving loads, dynamic deflection as well as stresses can be significantly higher than those for static loads. The establishment of analytical method for the development and maintenance of performance is required in the fields of the machining operations and the position control using ball screw. The equations of motion for the rotating shaft subjected to the two moving forces are derived by using Hamilton's principle. Influence of system parameters such as the speed ratio, the mass ratio and the Rayleigh coefficient is discussed on the response of the moving system.

• Composites Research
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• v.29 no.6
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• pp.379-387
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• 2016

Structural model of laminated composite plate based on the first order shear deformation theory and subjected to a combination of piezoelectric, electromagnetic and thermal fields is established. Coupled equations of motion are derived via Hamilton's principle on the basis of electromagnetic and piezoelectric equations which are involved in constitutive equations. Proportional control and velocity feedback control logics are applied via boundary control moments and forces. Variations of dynamic chasracteristics of composite plate with collocated piezoelectric sensor and actuators, electromagnetic field and temperature gradient are investigated and it reveals that dynamic characteristics of structure can be effectively controlled by utilizing the piezoelectric effect and ply angles of fiber reinforced composites.

• Advances in aircraft and spacecraft science
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• v.5 no.5
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• pp.515-531
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• 2018

In this manuscript, buckling response of the functionally graded material (FGM) nanoplate is investigated. Two opposite edges of nanoplate is under linear and nonlinear varying normal stresses. The small-scale effect is considered by Eringen's nonlocal theory. Governing equation are derived by nonlocal theory and Hamilton's principle. Navier's method is used to solve governing equation in simply boundary conditions. The obtained results exactly match the available results in the literature. The results of this research show the important role of nonlocal effect in buckling and stability behavior of nanoplates. In order to study the FG-index effect and different loading condition effects on buckling of rectangular nanoplate, Navier's method is applied and results are presented in various figures and tables.

• Steel and Composite Structures
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• v.22 no.6
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• pp.1261-1280
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• 2016

We study chaotic motion in a nonlinear laminated composite plate under subsonic fluid flow and a simultaneous external load in this paper. We derive equations of motion of the plate using the von-$K{\acute{a}}rm{\acute{a}}n^{\prime}s$ hypothesis and the Hamilton's principle. Galerkin's approach is adopted as the solution method. We then conduct a divergence analysis to obtain critical velocities of the transient flow. Melnikov's integral approach is used to find the critical parameters in which chaos takes place. Effects of different parameters including the aspect ratio, plate material and the ply angle in laminates on the critical flow speed are investigated. In a parametric study, we show that how the linear and nonlinear stiffness of the plate and the load frequency and amplitude would influence the chaotic behavior of the plate.

• Structural Engineering and Mechanics
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• v.91 no.3
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• pp.325-334
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• 2024

This paper deals with the dynamic buckling behavior of truncated conical shells composed of carbon nanotube composites, an important area of study in view of their very wide engineering applications in aerospace industries. In this regard, the effective material properties of the nanocomposite have been computed using the Mori-Tanaka model, which has already been established for such analyses. The motion equations ruling the structure's behavior are derived using first order shear deformation theory, Hamilton's principle, and energy method. This will provide adequate background information on its dynamic response. In an effort to probe the dynamic instability region of the structure, differential quadrature method combined with Bolotin's method will be adopted to tackle the resulting motion equations, which enables efficient and accurate analysis. This work considers the effect of various parameters in the geometrical parameters and the volume fraction of CNTs on the structure's DIR. Specifically, it became clear that increasing the volume fraction of CNTs shifted the frequency range of the DIR to higher values, indicating the significant role of nanocomposite composition regarding structure stability.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.496-500
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• 1993

This paper presents an end-point position control of 1-link flexible robot arm by the PID self-tuning fuzzy algorithm. The governing equation is derived by the extended Hamilton's principle and based on the Bernoullie-Euler beam theory. The governing equation is solved by applying the Laplace transform and the numerical inversion method. The arm is mounted on the translational mechanism driven by a ballscrew whose rotation is controlled by dcservomotor. Tip position is controlled by the PID self-tuning fuzzy algorithm so that it follows a desired position. This paper shows the experimental and theoretical results of tip dispalcement, and also shows the good effects reducing the residual vibration of the end-point.

• Smart Structures and Systems
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• v.17 no.5
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• pp.837-857
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• 2016

In the present study, for first time the size dependent vibration behavior of a rotating functionally graded (FG) Timoshenko nanobeam based on Eringen's nonlocal theory is investigated. It is assumed that the physical and mechanical properties of the FG nanobeam are varying along the thickness based on a power law equation. The governing equations are determined using Hamilton's principle and the generalized differential quadrature method (GDQM) is used to obtain the results for cantilever boundary conditions. The accuracy and validity of the results are shown through several numerical examples. In order to display the influence of size effect on first three natural frequencies due to change of some important nanobeam parameters such as material length scale, angular velocity and gradient index of FG material, several diagrams and tables are presented. The results of this article can be used in designing and optimizing elastic and rotary type nano-electro-mechanical systems (NEMS) like nano-motors and nano-robots including rotating parts.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.985-991
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• 2006

For a shear-deformable beam-column element subjected to non-conservative forces. equations of motion and a finite element formulation are presented applying extended Hamilton's principle. The influence of non-conservative force's direction parameter. internal and external damping forces, and shear deformation and rotary inertia effects on divergence and flutter loads of Beck's columns are intensively investigated based on element stiffness. damping and mass matrixes derived for the non-conservative system.