• 한국자동차공학회논문집
• /
• 제6권4호
• /
• pp.9-16
• /
• 1998

The joint characteristics are necessary to be determined in the early stage of the vehicle body design. Researches on identification of joints in a vehicle body have been performed until the recent year. In this study, the joint characteristics of vehicle struct- ure were expressed as condensed forms from the full joint stiffness and mass matrix. The condensed joint stiffness and mass matrix were applied to typical T-type and Edge-type joints, and the usefulness was confirmed. In addition, those were applied to center pillar and full vehicle body to validate the practical application.

• Journal of Mechanical Science and Technology
• /
• 제15권12호
• /
• pp.1639-1646
• /
• 2001

It is often necessary that the joints characteristics should be determined in the early stage of the vehicle body design. The researches on identification of joints in a vehicle body have been performed until the recent year. In this study, the joint characteristics of vehicle structure were expressed as the condensed matrix forms from the full joint stiffness matrix. The condensed joint stiffness matrix was applied to typical T-type and Edge-type joints, and the usefulness was confirmed. In addition, it was applied to the real center pillar model and the full vehicle body in order to validate the practical application.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1995년도 추계학술대회 논문집
• /
• pp.528-533
• /
• 1995

An analyical method is proposed to construct a clamp jointed structure as an equivalent stiffness matrix element in the finite element modal analysis of a complex beam structure. Static structural analysis was first made for the detail finite element model of the clamp joint. Utilizing the results of this analysis, the equivalent stiffness matrix element was buildup by using the flexibility influence coefficient method and Guyan condensation. The proposed method was applied to finite element modal analysis of a clamp jointed cantilever beam. And the finite element analysis results were compared to those experimental modal analysis. Comparison shows doog agreement each other Furthermore the effects of normal contact(or clamping) load on the equivalent stiffness matrix was also examined. The equivalent stiffness matrix showed little change in spite of the remakable increase in the contact load on the clamp joint.

• 한국정밀공학회지
• /
• 제29권10호
• /
• pp.1056-1061
• /
• 2012

FEM analysis is essential to shorten the development time and reduce the cost for developing high-performance machine tools. Mount joint parts play important role to ensure static and dynamic stability of machine tools. This paper suggests a computational modeling of mount joint part of machine tools. MATRIX27 element of ANSYS is adopted to model mount joint parts. MATRIX27 allows the definition of stiffness and damping matrices in matrix form. The matrix is assumed to relate two nodes, each with six degrees of freedom per node. Stiffness and damping values of commercial mount products are measured to build a database for FEM analysis. Jack mounts with rubber pad are exemplified in this paper. The database extracted from the experiments is also used to estimate of stiffness and damping of untested mounts. FEM analysis of machine tools system with the suggested mount computational model is performed. Static and dynamic results prove the feasibility of the suggested mount model.

• 제어로봇시스템학회논문지
• /
• 제13권4호
• /
• pp.320-328
• /
• 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.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2011년도 춘계학술대회 논문집
• /
• pp.544-549
• /
• 2011

Simplified formulae for axial and bending natural frequencies of bellows are developed using an equivalent thin-walled pipe model. The axial and bending stiffness of bellows is determined using lumped transfer matrix method. Accordingly, the Expansion Joint Manufacturers Association (EJMA) formula for axial and bending stiffness calculation is modified using two different equivalent radii. The results from the simplified formulae are verified by those from a experiment result and a finite element (FE) model and good agreement is shown between the each other.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.631-637
• /
• 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.

• Structural Engineering and Mechanics
• /
• 제45권4호
• /
• pp.423-437
• /
• 2013

Complex structures are usually assembled from several substructures with joints connecting them together. These joints have significant effects on the dynamic behavior of the assembled structure and must be accurately modeled. In structural analysis, these joints are often simplified by assuming ideal boundary conditions. However, the dynamic behavior predicted on the basis of the simplified model may have significant errors. This has prompted the researchers to include the effect of joint stiffness in the structural model and to estimate the stiffness parameters using inverse dynamics. In the present work, structural joints have been modeled as a pair of translational and rotational springs and frequency equation of the overall system has been developed using sub-structure synthesis. It is shown that using first few natural frequencies of the system, one can obtain a set of over-determined system of equations involving the unknown stiffness parameters. Method of multi-linear regression is then applied to obtain the best estimate of the unknown stiffness parameters. The estimation procedure has been developed for a two parameter joint stiffness matrix.

• 대한기계학회논문집
• /
• 제18권12호
• /
• pp.3109-3117
• /
• 1994

To operate a flexible mechanism in high speed its weight must be reduced as far as the structural strength does not decrease too much, but a light-weighted mechanism causes undesirable elastodynamic responses deteriorating the system performance. Besides, clearance within the connections of mechanisms causes rapid wear, increased noise and vibration. Even if the problems described above must be considered in the initial design stage, there has been no effective design process which takes account of the correlation between dynamic characteristics of flexible mechanism and the clearance effect at the joint. In this study, the generalized elastodynamic governing equations which include dynamic characteristics and boundary conditions of flexible mechanism are derived by variational calculus and solved by using FFM theory. To take the clearance effect at joint into account a new dynamic model is presented and also the method of modified stiffness/damping matrix is proposed to activate the dynamic clearance model, which cooperates with the developed governing equation very easily. As the results of this study, the proposed method(modified stiffness/damping matrix) to calculate clearance effect was proved to be superior to the existing one(force reaction method) in solution convergency and calculation performance. Besides this method can be easily adopted to the complex shape joint without calculation of reaction force direction.

• 한국기계가공학회지
• /
• 제18권2호
• /
• pp.58-64
• /
• 2019

This paper describes the analysis of dynamic characteristics and prediction of the stiffness for the joint between structural members. In the process of deriving the governing equations, the stiffness values responsible for the moment and shear force were modelled by using linear and torsional springs in the middle of a clamped-clamped beam. The sensitivities of the natural frequency and modal assurance criterion were investigated as a function of the dimensionless linear and torsional spring stiffness. The reliability of the predictions for the linear and torsional stiffness values was verified by the inverse computations of the stiffness matrix. The predictive and exact theoretical stiffness values were compared for the stiffness element in the finite element formulation, and their results show an excellent correlation. It is strongly anticipated that although the proposed methodology is currently limited to the analytical utilization, it will provide a useful tool to estimate unknown joint stiffness values based on the experimental natural frequency and mode shape.