• Advances in nano research
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• 제13권5호
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• pp.465-474
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• 2022

Based on the nonlocal strain gradient (NSG) theory and considering the influence of moment of inertia, the governing equations of motion of porous functionally graded (FG) nanoplates with four edges clamped are established; The Galerkin method is applied to eliminate the spatial variables of the partial differential equation, and the partial differential governing equation is transformed into an ordinary differential equation with time variables. By satisfying the boundary conditions and solving the characteristic equation, the dispersion relations of the porous FG strain gradient nanoplates with four edges fixed are obtained. It is found that when the wave number is very small, the influences of nonlocal parameters and strain gradient parameters on the dispersion relation is very small. However, when the wave number is large, it has a great influence on the group velocity and phase velocity. The nonlocal parameter represents the effect of stiffness softening, and the strain gradient parameter represents the effect of stiffness strengthening. In addition, we also study the influence of power law index parameter and porosity on guided wave propagation.

• 대한기계학회논문집A
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• 제40권12호
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• pp.1067-1076
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• 2016

본 논문은 고령자를 위한 하이브리형 전동 휠체어의 개발에 대해서 서술하였다. 개발된 하이브리드형 휠체어는 기존 전동 휠체어에 비해 기구적 및 제어적 특징을 가지고 있다. 기구적 특징으로써 인체공학적 등받이 브레이크 메커니즘을 새롭게 고안하였고, 이로부터 고령자들이 몸동작을 이용하여 손쉽게 제동을 할 수 있도록 하였다. 제어적 특징으로써, 휠 토크 보조, 마찰/관성보상, 중력보상 및 한 손 구동과 같은 다양한 동력보조 기능을 융합하여 고령 탑승자의 근력 부담을 현격히 감소시켰다. 휠 토크의 보조를 위해 핸드림에 스트레인게이지를 부착하여 탑승자가 가하는 휠 토크를 측정하였으며, 마찰보상과 관성보상을 위해 바퀴와 시트에 각각 자이로스코프와 가속도센서를 부착하였다. 또한, 중력보상을 위해 기울기 센서를 추가적으로 부착하였으며, 편마비 환자들과 같이 한 손 만을 사용할 수 있는 사용자들 위해서 시트 밑면에 부착된 압력 센서로부터 휠체어의 주행 방향을 인식하고 자이로스코프를 이용하여 반대편 휠의 각속도를 제어하는 한 손 주행 알고리즘을 새롭게 고안하였다. 최종적으로 본 연구에서 고안한 운동 보조 알고리즘의 성능을 각종 실험으로부터 검증하였다.

• Journal of Mechanical Science and Technology
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• 제15권4호
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• pp.422-432
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• 2001

There are many analysis formulas for determining the resultant shear force in welds. However, there is no general procedure which is applicable to a joint with all six possible loadings exerted simultaneously. A numerical methodology and computer program for such a problem were developed, and they are capable of analyzing a weld of any shape composed of straight or circular line segments. The computer program developed in this study can also display the design procedures and results using computer graphics. The development of such a design procedure and an interactive computer program for weldments analysis will lead to lower cost.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회B
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• pp.2997-3002
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• 2007

A manipulator is operated for the motion of mechanical hands or arms by mechanical mechanism. When a cup including liquid inside is shifted by a manipulator, it is important to know how a free surface of the liquid moves. In this study, non-dimensional parameters have been found that affect the rise of the free surface in a cup moving with constant acceleration. The non-dimensional parameters are the dimensionless time, the ratio of inertia effect to vicous effect (Reynolds number), aspect ratio of the liquid inside the cup and acceleration ratio (Froude number). Through this study, the height of the free surface rise in a cup has been predicted. Generally the maximum rise of the free surface is dependent on the Reynolds number and Froude number strongly, but on the aspect ratio weakly. But the influence of the aspect ratio on the maximum rise of the free surface in not negligible in the range 10 < Re < 100.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.307-311
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• 2004

In this study, a novel hybrid vehicle is proposed. The vehicle has a flywheel-engine hybrid system. Flywheels are more effective as energy charge systems than electric batteries in a respect of output power density. However, transmissions to effectively drive flywheels are very complex systems such as CVTs (Continuously Variable Transmissions). In the proposed hybrid vehicle, Constant Pressure System is employed, which is hydraulic power transmission. Using Constant Pressure Systems, hydraulic CVTs are easily realized with variable displacement pumps/motors. In this paper, firstly, the proposed flywheel hybrid vehicle making use of Constant Pressure System is described. Secondly, fuel consumption characteristics of the flywheel hybrid vehicle are experimentally examined with the stationary test facility, which employs a flywheel as a load emulating vehicle inertia. Finally, the experimental results and discussions are described. Fuel consumption of 26km/L is expected for 10 mode driving schedule with vehicle mass of 1500kg.

• 대한기계학회논문집A
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• 제21권8호
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• pp.1209-1217
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• 1997

This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.

• 대한기계학회논문집
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• 제15권6호
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• pp.1781-1791
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• 1991

본 연구에서는 천이온도하에 있는 물체의 균열의 거동을 연구하기 위하여 선 적분 형태의 J적분을 유도하고 유한요소법으로 수치계산하여 기존의 결과와 비교한다. 한편 관성항과 재료의 물성치가 J적분값에 미치는 영향을 검토한다.

• 에너지공학
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• 제5권2호
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• pp.131-137
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• 1996

Typical size distribution of emission particulates is bi-modal in shape with particles in the fine mode (< 2.0 $\mu\textrm{m}$) and the coarse mode. An experimental study of pressure drop across the industrial gas cleaning filters has been conducted using particle mixture of fine alumina and coarse Arizona dusts with a rotating aerosol disperser to generate the bi-modal test aerosol. Pressure drop increased linearly with increasing mass loading. The pressure drop was found to be strongly dependent upon the mass ratio of fine to coarse particles. The smaller the mass ratio of fine to coarse particles and the higher face velocity are, the faster pressure drop rises. The fine particles and the greater inertia of the particle moving fast would cause a denser cake formation on the filter surface, resulting in a greater specific resistance to the gas flow.

• 대한기계학회논문집A
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• 제26권2호
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• pp.267-274
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• 2002

Using a flexible rotating beam test bed, experimental verification of a flexible multibody dynamic simulations for a rotating beam model has been carried out. The test bed consists of a flexible arm, harmonic driver reducer, AC servo motor and DSP board with PC. The mechanical ports of the test bed has been designed using 3D CAD program. For the simulation model, mass and moment of inertia of each part of the flexible rotating beam test bed are also obtained from 3D CAD model. In the flexible multibody dynamic simulations, the substructuring model has been established to capture nonlinear effects of the flexible rotating beam. Through the experimental verification, substructuring model provides better results than those from the linear model in the high speed rotation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.813-816
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• 1991

Direct-drive SCARA-type industrial robots are increasingly used in the assembly process of small mechanical parts as well as electronic components, which uses direct-drive (DD) motors instead of reduction gear-type conventional motors for the actuators of manipulator arms. There are many advantages in using DD motors for robots, such as no backlash, low friction, high mechanical stiffness capability for fast and precise arm control, and high repeatability of positioning. However, there exist a number of difficulties which must be overcome to ensure proper construction and operation; increasing effects of load veriation and nonlinear and coupling dynamics, severe vibration caused by resonance of the manipulator components and low mechanical damping, etc. In order to handle these difficulties, lots of efforts have been made such as reduction of the arm inertia and elimination of the resonance, Performance evaluation of a recently developed, domestic DD robot shows that it works excellently compared with conventional robots. It, however, requires proved reliability and price competitiveness against its foreign counterparts.