• Structural Engineering and Mechanics
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• 제70권1호
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• pp.1-11
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• 2019

This study deals with a method based on the modified bivariate gamma function for reconstructions of dynamic behavior of delaminated composite plates subjected to impact loads. The proposed bivariate gamma function is associated with micro-genetic algorithms, which is capable of solving inverse problems to determine the stiffness reduction associated with delamination. From computing the unknown parameters, it is possible for the entire dynamic response data to develop a prediction model of the dynamic response through a regression analysis based on the measurement data. The validity of the proposed method was verified by comparing with results employing a higher-order finite element model. Parametric results revealed that the proposed method can reconstruct dynamic responses and the stiffness reduction of delaminated composite plates can be investigated for different measurements and loading locations.

• 전산구조공학
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• 제9권4호
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• pp.209-217
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• 1996

구조물의 손상전후에 나타나는 고유진동수와 모드 형상으로 부터 Inverse Modal Perturbation기법을 이용하여 잔교식 부두나 돌핀과 같은 대규모 항만구조물의 손상도 추정을 위한 모드 기여도 계수를 근사적으로 직접 구하는 방법을 제시하였다. 잔교식 항만구조물의 고유치 해석을 통해 구조물의 강성 변화량과 구조물의 고유진동수와 모드 형상의 변화량과 요소 손상도 계수를 도입하여 Inverse Modal Perturbation의 2차항을 고려한 관계식을 유도하고 손상전후에 구조물의 강성 감소로 나타나는 구조물의 손상도를 추정하여 수렴정도를 고찰하였다.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.320-327
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• 2005

A new mechanism for hyper redundant manipulator (HRM) is presented, which comprises of serially assembled compound three-bar linkages (CTL). The CTL mechanism has some unique properties. This paper presents the forward and inverse kinematics of this mechanism and shows the simulation of the HRM havig 9 CTL units. The recursive algorithm of the inverse kinematics that the author originally developed is employed. It is fast and stable ; moreover, it enables us to obtain a solution in which the end-point of the HRM is controlled by a portion of joints. It also presents the method of the dynamical analysis. There exist kinematical constraints in the proposed closed linkage mechanism. In the dynamic analysis constraints are sufficiently sustained by the constraint stabilization method that the author developed. The mechanical structure of the HRM having some CTL units that is under construction is shown.

• 한국정보통신학회논문지
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• 제25권12호
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• pp.1817-1825
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• 2021

전방향 모바일 로봇은 로봇의 방향을 바꿀 필요 없이 어떤 방향으로든 움직일 수 있어 여러 응용 분야에서 적용이 쉽고 뛰어난 기동성을 제공한다. 전방향 모바일 로봇은 마찰과 같은 비선형 동적 성분을 가지고 있어 정확히 모델링하기에 어렵다. 본 연구에서는 이러한 비선형 성분을 제거하기 위하여 모바일 로봇의 역 다이내믹과 적분 슬라이딩 모드 제어기법을 사용하여 모바일 로봇 시스템을 선형화하고, 제안된 제어기법의 최적 성능을 구현하기 위하여 유전알고리즘을 사용하여 위치 및 속도 이득을 최적화한다. 성능 평가 결과 유전알고리즘을 적용한 제어기법이 임의의 이득을 갖는 제어기법보다 뛰어난 성능을 나타내었다. 그리고 제안된 역 다이내믹과 적분 슬라이딩 모드 제어기법은 다른 제어기법에서도 적용될 수 있으며, 특히 선형제어시스템 설계에 유용하게 사용될 수 있다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.191-196
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• 2004

This study proposed the analysis of mass position detection and modified stiffness due to the change of the mass and stiffness of structure by using the original and modified dynamic characteristics. The method is applied to examples of a cantilever and 3 degree of freedom by modifying the mass. The predicted detection of mass positions and magnitudes are in good agrement with these from the structural reanalysis using the modified mass.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1013-1016
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• 1995

This paper deals with dynamics and control of a PRP6-DOF parallel manipulator. Dynamic modeling includes the effect of inertia of all links in the mechanism to increase modeling accuracy. Kinematic analysis about forward and inverse kinematics is also explained. Using Lagrange-D' Alambert method we get equations of motions in a link space which fully represent 6DOF motions of the manipulator.

• 소음진동
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• 제2권1호
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• pp.61-66
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• 1992

In general, structures have various joints such as bonded joint, bolted joint, bearing joint and welded joint. Dynamic modelling of such joints has been the current topic of interest. In this study, the dynamic modelling of plate structures with bonded joint was investigated by using modal testing, sensitivity analysis and condensation-inverse condensation method of FEM. A proper modelling procedure was proposed and the validity was verified.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1933-1938
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• 2000

The partial differential equations for a coil spring derived from Timoshenko beam theory and Frenet formulae. Dynamic stiffness matrix of a coil spring composed of a circular wire is assembled by using dispersion relationship, waves and natural frequencies. Natural frequencies are obtained from maxima in the determinant of inverse of a dynamic stiffness matrix with appropriate boundary conditions. The results of the dynamic stiffness method are compared with those of transfer matrix method, finite element method and test.

• 정보처리학회논문지A
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• 제12A권4호
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• pp.321-326
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• 2005

본 논문에서는 질점-스프링 모델(mass-spring model)에 기반한 대화형 천 시뮬레이션(interactive cloth simulation) 기법을 제시하며, 특히 소수의 질점들(mass-points)에 상대적으로 강한 힘이 가해졌을 경우 사실적으로 천을 시뮬레이션하는 방법에 초점을 맞추었다. 본 논문에서 제시하는 방법은 소수의 점들에 대해 가해진 힘을 모든 질점들에 분산시킴으로써 의사 실시간(pseudo real-time) 내에 시뮬레이션을 수행하며, 이는 기존의 방법들에 비해 수행속도 면에서 매우 효율적이다. 또한, Provot[9]의 역동역학 방법(inverse dynamic method)을 사용하여 초탄성(super-elasticity) 현상을 해결한 뒤, 인접한 질점 간의 각도를 조정함으로써 초탄성 효과에 의해 발생하는 지그재그(zigzag) 현상을 제거하여 사실적으로 천을 시뮬레이션한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2719-2724
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• 2003

In this paper, we deal with the kinematic and dynamic modeling of hybrid robotic systems that are constructed by combination of parallel and serial modules or series of parallel modules. Previously, open-tree structure has been employed for dynamic modeling of hybrid robotic systems. Though this method is generally used, however, it requires expensive computation as the size of the system increases. Therefore, we propose an efficient dynamic modeling methodology for hybrid robotic systems. Initially, the dynamic model for the proximal module is obtained with respect to the independent joint coordinates. Then, in order to represent the operational dynamics of the proximal module, we model virtual joints attached at the top platform of the proximal module. The dynamic motion of the next module exerts dynamic forces to the virtual joints, which in fact is equivalent to the reaction forces exerted on the platform of the lower module by the dynamics of the upper module. Then, the dynamic forces at the virtual joints are distributed to the independent joints of the proximal module. For multiple modules, this scheme can be constructed as a recursive dynamic formulation, which results in reduction of the complexness of the open-tree structure method for modeling of hybrid robotic systems. Simulation for inverse dynamics is performed to validate the proposed modeling algorithm.