• 한국소음진동공학회논문집
• /
• 제13권1호
• /
• pp.26-32
• /
• 2003

The vibrational system of this study is consisted of a rotating cantilever pipe and the flow in the pipe. The equation of motion is derived by using Lagrange equation. The influences of the rotating angular velocity and the velocities of fluid flow in the pipe have been studied on the dynamic characteristics of a rotating cantilever pipe by numerical method. The tip-amplitude of axial vibration and maximum tip-deflection of axial direction of cantilever pipe are directly proportional to the velocity of fluid and rotating angular velocity of pipe In the steady state. respectively The bending tip-amplitude of cantilever pipe is inversely proportional to the velocity of fluid in the steady state. When the rotating angular velocity is 5 rad/s, the velocity of fluid increase with increasing the natural frequency of axial vibration at second mode and third mode, but the natural frequency axial direction of first mode is decreased. The natural frequency of lateral direction is decreased due to increase of the rotating angular velocity. It identifies that the Influence of velocity of fluid give much variation lower mode of vibration in lateral direction. And the Influence of velocity of fluid give much variation higher mode of vibration in axial direction.

• 한국해양공학회지
• /
• 제15권2호
• /
• pp.135-140
• /
• 2001

A simply supported pipe conveying fluid and a moving mass upon it constitute a vibrational system. The equation of motion is derived by using Lagrange's equation. The influence of the velocity and the inertia force of a moving mass and the velocities of fluid flow in the pipe have been studied on the dynamic behavior of a simply supported pipe by numerical method. The velocities of fluid low are considered within its critical values of the simply supported pipe without a moving mass upon it. Their coupling effects on the transverse vibration of a simply supported pipe are inspected too. as the velocity of a moving mass increases, the deflection of midspan of a simply supported pipe conveying fluid is increased and the frequency of transverse vibration of the pipe is not varied. Increasing of the velocity of fluid flow makes the frequency of transverse vibration of the simply supported pipe conveying fluid decrease and the deflection of midspan of the pipe increase. The deflection of the simply supported pipe conveying fluid is increased by a coupling of the moving mass and the velocities of a moving mass and fluid flow.

• 한국소음진동공학회논문집
• /
• 제12권11호
• /
• pp.840-846
• /
• 2002

The vibrational system of this study is consisted of a cantilever pipe conveying fluid, the moving masses upon it and an attached tip mass. The equation of motion is derived by using Lagrange equation. The influences of the velocity and the number of moving masses and the velocities of fluid flow in the pipe have been studied on the natural frequency of a cantilever pipe by numerical method. As the size and number of a moving mass increases, the natural frequency of cantilever pipe conveying fluid is decreased. When the first a moving mass Is located at the end of cantilever pipe, the increasing of the distance of moving masses make the natural frequency increase at first and third mode, but the frequency of second mode is decreased. The variation of natural frequency of the system is decreased due to increase of the number of a moving mass. The number and distance of moving masses effect more on the frequency of higher mode of vibration.

• 한국소음진동공학회논문집
• /
• 제13권8호
• /
• pp.605-611
• /
• 2003

A simply supported pipe conveying fluid and two moving masses upon it constitute this nitration system. The equation of motion is derived by using Lagrange's equation. The influence of the velocities of two moving masses, the distance between two moving masses, and the velocities of fluid flow in the pipe have been studied on the dynamic behavior of a simply supported pipe by numerical method. The velocities of fluid flow are considered with in its critical values of a simply supported pipe without moving masses upon It. Their coupling effects on the transverse vibration of a simply supported pipe are inspected too. As the velocity of two moving masses increases, the deflection of a simply supported pipe is increased and the frequency of transverse vibration of a simply supported pipe is not varied. In case of small distance between two masses, the maximum deflection of the pipe occur when the front mass arrive at midspan. Otherwise as the distance get larger, the position of the front masses where midspan deflection is maximum moves beyond the midpoint of a simply supported pipe. The deflection of a simply supported pipe is increased by coupling of the velocities of moving masses and fluid flow.

• 한국소음진동공학회논문집
• /
• 제12권2호
• /
• pp.132-140
• /
• 2002

A simply supported pipe conveying fluid and the moving masses upon it constitute this vibrational system. The equation of motion is derived by using Lagrange's equation. The influence of the velocity and the inertia force of the moving masses and the velocities of fluid flow in the pipe have been studied on the dynamic behavior of a simply supported pipw by numerical method. The velocities of fluid flow are considered within its critical values of the simply supported pipe without the moving masses upon it. Their coupling effects on the transverse vibration of a simply supported pipe are inspected too. The dynamic deflection of the simply supported pipe conveying fluid is increased by a coupling of the moving masses and the velocities of the moving masses and the fluid flow. When four or five regular interval masses move on the simply supported pipe conveying fluid, the amplitude of the simply supported pipe conveying fluid is small at low velocity of the masses, but at high velocity of the masses the deflection of midspan of the pipe is increased by coupling with the numbers and magnitude of the masses. The time which produce the maximum dynamic deflection of the simply supported pipe is delayed according to the increment of the number of moving masses.

• 대한기계학회논문집A
• /
• 제27권11호
• /
• pp.1824-1830
• /
• 2003

The vibrational system of this study is consisted of a rotating cantilever pipe conveying fluid and the tip mass. The equation of motion is derived by using the Lagrange equation. The influences of the rotating angular velocity and the velocity of fluid flow in a cantilever pipe have been studied on the dynamic characteristics of a rotating cantilever pipe by the numerical method. The effects of a tip mass on the dynamic response of a cantilever pipe are also studied. The tip-amplitude and maximum tip-deflection of each direction are directly proportional to the tip mass of the cantilever pipe in steady state. It identifies that the influence of the fluid velocity and the rotating angular velocity of the cantilever pipe give much variation the bending tip-displacement of steady state and the bending tip-displacement of non-steady state, respectively. The influence of the rotating angular velocity gives much the deflection of axial direction.

• 한국산업융합학회 논문집
• /
• 제20권4호
• /
• pp.299-305
• /
• 2017

This study proposes a new technique to design and control of robot hand gripper for assembling and disassembling of a machine parts. The motion equation describing dynamics of the manipulators and object together with geometric constraint is formulated by Lagrange-Euler's equation. And the problems of controlling both the grasping force and the rotation angle of the grasped object under the constraints are analyzed. The effect of geometric constraints and a method of computer simulation for overall system is verified. Finally, it is illustrated that even in case of there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs control of joint and this feedback connection from sensing data to control grasping of machinery parts.

• 한국해양공학회지
• /
• 제16권6호
• /
• pp.18-24
• /
• 2002

The vibrational system in this study consists of a cantilever pipe conveying fluid, the moving mass upon it, and an attached tip mass. The equation of motion is derived by using the Lagrange equation. The influences of the velocity and the velocities of fluid flow in the pipe have been studied on the dynamic behavior of a cantilever pipe using a numerical method. While the moving mass moves upon the cantilever pipe, the velocity of fluid flow and the nozzle angle increase; as a result, the tip displacement of the cantilever pipe, conveying fluid, is decreased. After the moving mass passes over the cantilever pipe, the tip displacement of the pipe is influenced by the potential energy of the cantilever pipe and the deflection of the pipe; the effect is the result of the moving mass and gravity. As the velocity of fluid flow and nozzle angle increases, the natural frequency of he system is decreased at the second mode and third mode, but it is increased at the first mode. As the moving mass increases, the natural frequency of the system is decreased at all modes.

• 대한기계학회논문집A
• /
• 제27권11호
• /
• pp.1815-1823
• /
• 2003

The vibrational system of this study consists of a cantilever pipe conveying fluid, the moving masses upon it and having an attached tip mass. The equation of motion is derived by using Lagrange's equation. The influences of the velocity and the inertia force of the moving mass and the velocities of fluid flow in the pipe have been studied on the dynamic behavior and the natural frequency of a cantilever pipe by numerical method. The deflection of the cantilever pipe conveying fluid is increased due to the tip mass and rotary Inertia. After the moving mass passed upon the cantilever pipe, the amplitude of pipe is influenced by energy variation when the moving mass fall from the cantilever pipe. As the moving mass increase, the frequency of the cantilever pipe conveying fluid is increased. The rotary inertia of the tip mass influences much on the higher frequencies and vibration mode.

• 한국소음진동공학회논문집
• /
• 제13권7호
• /
• pp.562-569
• /
• 2003

An iterative modal analysis approach is developed to determine the effect of transverse open cracks on the dynamic behavior of simply supported pipe conveying fluid subject to the moving mass. The equation of motion Is derived by using Lagrange’s equation. The influences of the velocity of moving mass and the velocity of fluid flow and a crack have been studied on the dynamic behavior of a simply supported pipe system by numerical method. The presence of crack results In higher deflections of pipe. 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. Totally. as the velocity of fluid flow and the crack severity are increased, the mid-span deflection of simply supported pipe conveying fluid Is Increased. The time which produce the maximum dynamic deflection of the simply supported pipe Is delayed according to the increment of the crack severity.