• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.144-149
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• 2017

There have been lots of interest on service and entertainment robots. To ensure that robots work in harmony with humans, their stability and compactness are some of the key issues. Obviously, robots with fewer wheels occupy a smaller floor area compared to those with more wheels. In addition, robots with fewer wheels, whose posture stabilities are maintained by feedback control, are stable even under larger accelerations and/or higher locations of the center of mass. To facilitate controller design, it is assumed that both pitch and roll dynamics are decoupled. The dynamic equations of motion for the proposed robot are derived from the Euler-Lagrange equation. To obtain the optimal balancing control law, linear quadratic regulator control methods are applied to the linearized dynamic equations. Simulation and experimental results verify the effectiveness and performance of the proposed balancing control algorithm for a single-wheeled mobile robot.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.10
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• pp.1062-1069
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• 2012

This paper suggests a computational modeling to reflect static/dynamic characteristics of LM bearings. A theoretical study for modeling LM bearings is elucidated by using the Hertz contact theory, the Lagrange's equation of motion, normal mode analysis and a calculation of equivalent moment center. The complex geometry of LM bearings is replaced by a simplified model with eight springs only. The suggested model reflects static and dynamic characteristics of LM bearings without any consideration for the shape of the bed or stages on the LM bearings. The modal experimental results are compared to the simulation results with the suggested computational modeling. The difference between the experiments and simulation is calculated less than 8%.

• Structural Engineering and Mechanics
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• v.75 no.6
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• pp.713-722
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• 2020

This article aims to illustrate the damped dynamic responses of layered functionally graded (FG) thick 2D beam under dynamic pulse sinusoidal load by using finite element method, for the first time. To investigate the response of thick beam accurately, two-dimensional plane stress problem is assumed to describe the constitutive behavior of thick beam structure. The material is distributed gradually through the thickness of each layer by generalized power law function. The Kelvin-Voigt viscoelastic constitutive model is exploited to include the material internal damping effect. The governing equations are obtained by using Lagrange's equations and solved by using finite element method with twelve -node 2D plane element. The dynamic equation of motion is solved numerically by Newmark implicit time integration procedure. Numerical studies are presented to illustrate stacking sequence and material gradation index on the displacement-time response of cantilever beam structure. It is found that, the number of waves increases by increasing the graduation distribution parameter. The presented mathematical model is useful in analysis and design of nuclear, marine, vehicle and aerospace structures those manufactured from functionally graded materials (FGM).

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.601-606
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• 2001

Free vibration analysis was performed for a spinning disk/spindle system mounted on a flexible baseplate. A simplified model was presented considering the effects of the baseplate flexibility on a disk/spindle system, and the equations of motion were derived by the assumed mode method and Lagrange's equation. From the results of the tree vibration analysis, the variations of the natural frequencies were investigated by changing rotating speed, baseplate thickness. They were attributed to the coupling between the flexible modes of the spinning disk/spindle system and the baseplate. This simplified model was used to predict the dynamic characteristics of a small size disk drive. The validity of the simplified model was verified by experiments and FE analysis.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.11
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• pp.132-142
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• 1996

This paper presents a technique to model and control a manipulator which has a flexible link and moves in a vertical plane. The flexible link is modeled as an Euler-Bernoulli Beam. Elastic deformation of the flexible link is represented using the assumed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. This paper presents a simple technique to improve the correctness of the developed model. The final model including the shortening effect due to elastic deformation correlates very well with experimental results. The free body motion simulation shows that two assumed modes for the representation of the elastic deformation is proper in terms of the model size and correctness. A control algorithm is developed using PID control technique. The proportional, integral and derivative control gains are determined based on dominant pole placement method with a rigid one-link manipulator. A position control simulation shows that the control algorithm can be used to control the position and residual oscillation of the flexible one-link manipulator effectively.

• Journal of the Korea institute for structural maintenance and inspection
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• v.25 no.3
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• pp.21-30
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• 2021

Architectural cultural properties suffer a lot of damage due to various environmental factors. In order to preserve damaged cultural properties, preventive preservation and long-term preservation management are becoming more important. Therefore, research on a scientific non-destructive testing method applicable to regular inspection is required. For related research, DangGan with a high flag-pole shape was selected as the subject of study among various cultural properties. Among the preserved DangGans, a basic study was conducted on the analysis technique to evaluate the structural stability by selecting Treasure No. 49 Naju SeokDangGan. An idealized model was presented and a multi-degree of freedom equation of motion was derived. In addition, an equation for estimating the critical stiffness value for each joint position is presented.