• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.108.4-108
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot fingers which stably grasps and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for differential-algebraic equations of overall...

• Journal of Mechanical Science and Technology
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• v.19 no.9
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• pp.1731-1741
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• 2005

In this paper, we studied about the effect of the open crack and a tip mass on the dynamic behavior of a cantilever pipe conveying fluid with a moving mass. The equation of motion is derived by using Lagrange's equation and analyzed by numerical method. The cantilever pipe is modelled by the Euler-Bernoulli beam theory. The crack section is represented by a local flexibility matrix connecting two undamaged pipe segments. The influences of the crack, the moving mass, the tip mass and its moment of inertia, the velocity of fluid, and the coupling of these factors on the vibration mode, the frequency, and the tip-displacement of the cantilever pipe are analytically clarified.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.539-542
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• 1997

We present a micro-positioning stage that has minimized geometrical error and can drive in the 4-axis. This stage divided into two parts: $Z\theta_x$ $\theta_y$, motion stage and$\theta_z$ motion stage. These stages are constructed in flexure hinges, piezoelectric actuators and displacement scnsors. The dynamic model for each stage is obtained and their FE (finite element) models are made. Using the Lagrange's equation, the motion of equation is found. Through the parametric analysis and FE analysis, sensitiv~ty of the design parameters is executed. Finally, fundamental frequencies, maximum stress, and displacement sensitivity for each stage are obtained. We expect that this micro-positioning stage be a useful micro-alignment device for various applications.

• Journal of Advanced Marine Engineering and Technology
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• v.30 no.3
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• pp.428-437
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• 2006

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.10 s.103
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• pp.1195-1201
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• 2005

In this paper, the effect of a moving mass on dynamic behavior of the cracked cantilever beam on elastic foundations is presented. Based on the Euler-Bernoulli beam theory, the equation of motion can be constructed by using the Lagrange's equation. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments. That is, the crack is modelled as a rotational spring. This flexibility matrix defines the relationship between the displacements and forces across the crack section and is derived by applying fundamental fracture mechanics theory The crack is assumed to be in the first mode of fracture. As the depth of crack is increased, the tip displacement of the cantilever beam is Increased. When the depth of crack is constant, the frequency of a cracked beam is proportional to the spring stiffness.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.8
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• pp.701-707
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• 2007

In this paper the vibration system is composed of a rotating cantilever pipe conveying fluid. The equation of motion is derived by using the Lagrange's equation. Generally, the system of pipe conveying fluid becomes unstable by flutter. Therefore, the influence of the rotating angular velocity, mass ratio and the velocity of fluid flow on the stability of a cantilever pipe by the numerical method are studied. The influence of mass ratio, the velocity of fluid, the angular velocity of a cantilever pipe and the coupling of these factors on the stability of a cantilever pipe are analytically clarified. The critical fluid velocity ($u_{cr}$) is proportional to the angular velocity of the cantilever pipe. In this paper Flutter(instability) is always occurred in the second mode of the system.

• Structural Engineering and Mechanics
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• v.58 no.1
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• pp.103-119
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• 2016

Multi-storey frame structures are frequently exposed to static and dynamic forces. Therefore analyses of static (buckling) and dynamic stability come into prominence for these structures. In this study, the effects of number of storey, static and dynamic load parameters, crack depth and crack location on the in-plane static and dynamic stability of cracked multi-storey frame structures subjected to periodic loading have been investigated numerically by using the Finite Element Method. A crack element based on the Euler beam theory is developed by using the principles of fracture mechanics. The equation of motion for the cracked multi-storey frame subjected to periodic loading is achieved by Lagrange's equation. The results obtained from the stability analysis are presented in three dimensional graphs and tables.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2006.04a
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• pp.703-708
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• 2006

In this paper a dynamic behavior(natural frequency) of a cracked simply supported pipe conveying fluid is presented. In addition, an analysis of the buckling instability of a cracked pipe conveying fluid subjected to a follower compressive load is presented. Based on the Euler-Bernouli beam theory, the equation of motion can be constructed by using the Lagrange's equation. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments. TI1e crack is assumed to be in the first mode of fracture and to be always opened during the vibrations.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.4 s.97
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• pp.483-491
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• 2005

In this paper a dynamic behavior of a double-cracked cantilever pipe with the tip mass and a moving mass is presented. Based on the Euler-Bernoulli beam theory, the equation of motion is derived by using Lagrange's equation. The influences of the moving mass, the tip mass and double cracks have been studied on the dynamic behavior of a cantilever pipe system by numerical method. The cracks section are represented by the local flexibility matrix connecting two undamaged beam segments. Therefore, the cracks are modelled as a rotational spring. This matrix defines the relationship between the displacements and forces across the crack section and is derived by applying fundamental fracture mechanics theory. We investigated about the effect of the two cracks and a tip mass on the dynamic behavior of a cantilever pipe with a moving mass.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.799-804
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• 2004

In this paper a dynamic behavior of simply supported cracked simply supported beam with the moving masses is presented. Based on the Timoshenko beam theory, the equation of motion can be constructed by using the Lagrange's equation. The crack section is represented by a local flexibility matrix connecting two undamaged beam segments i.e. the crack is modelled as a rotational spring. This flexibility matrix defines the relationship between the displacements and forces across the crack section and is derived by applying fundamental fracture mechanics the of. And the crack is assumed to be in th first mode of fracture. As the depth of the crack and velocity of fluid are increased the mid-span deflection of the pipe conveying fluid with the moving mass is increased. As depth of the crack is increased, the effect that the velocity of the fluid on the mid-span deflection appeals more greatly.