• Smart Structures and Systems
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• 제26권2호
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• pp.213-226
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• 2020

In this manuscript, static and dynamic behaviors of geometrically imperfect carbon nanotubes (CNTs) subject to different types of end conditions are investigated. The Doublet Mechanics (DM) theory, which is length scale dependent theory, is used in the analysis. The Euler-Bernoulli kinematic and nonlinear mid-plane stretching effect are considered through analysis. The governing equation of imperfect CNTs is a sixth order nonlinear integro-partial-differential equation. The buckling problem is discretized via the differential-integral-quadrature method (DIQM) and then it is solved using Newton's method. The equation of linear vibration problem is discretized using DIQM and then solved as a linear eigenvalue problem to get natural frequencies and corresponding mode shapes. The DIQM results are compared with analytical ones available in the literature and excellent agreement is obtained. The numerical results are depicted to illustrate the influence of length scale parameter, imperfection amplitude and shear foundation constant on critical buckling load, post-buckling configuration and linear vibration behavior. The current model is effective in designing of NEMS, nano-sensor and nano-actuator manufactured by CNTs.

• 제어로봇시스템학회논문지
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• 제22권11호
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• pp.888-894
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• 2016

This paper presents the kinematic and dynamic analysis of the robot arm for inspection and rescue operations. The inspection robot arm has Pitch-Pitch-Pitch-Yaw motion for an optimal and stable view of the camera installed at the end of the manipulator. The rescue operation robot arm has Yaw-Pitch-Pitch-Roll motion to handle heavy tools. Additionally, both robot arms are waterproof, as they use the triple-layer O-ring. Furthermore, the dynamic equation including the damping force due to the mechanical seal for waterproofness was derived by using the Newton-Euler method. A control system using the ARM processor was developed and introduced in this paper, and its performance was verified through experiments.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.306-309
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• 2005

This parer describes the tracking control simulation of 6-DOF shaking table with a bell crank structure, which converts the direction of reciprocating movements. For the Joint coordinate-based control which uses lengths of each actuator, the trajectory conversion process inverse kinematics is performed. Applying the Newton-Euler approach, the dynamic equation of the shaking table is derived. To cope with nonlinear problems, time-delay control(TDC) is considered, which has been noted for its exceptional robustness to parameter uncertainties and disturbance, in addition to steady-state accuracy and computational efficiency. If the nominal model is equal to the real system, joint coordinate-based control can be very efficient. However, manufacturing tolerances installation errors and link offsets contaminate the nominal values of the kinematic parameters used in the kinematic model of the shaking table. To compensate differences between the nominal model and the real system. the joint coordinate-based control using acceleration feedback in the Cartesian coordinate space is proposed.

• Structural Engineering and Mechanics
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• 제70권6호
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• pp.737-750
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• 2019

This paper investigates the static and dynamic behaviors of imperfect single walled carbon nanotube (SWCNT) modeled as a beam structure by using energy-equivalent model (EEM), for the first time. Based on EEM Young's modulus and Poisson's ratio for zigzag (n, 0), and armchair (n, n) carbon nanotubes (CNTs) are presented as functions of orientation and force constants. Nonlinear Euler-Bernoulli assumptions are proposed considering mid-plane stretching to exhibit a large deformation and a small strain. To simulate the interaction of CNTs with the surrounding elastic medium, nonlinear elastic foundation with cubic nonlinearity and shearing layer are employed. The equation governed the motion of curved CNTs is a nonlinear integropartial-differential equation. It is derived in terms of only the lateral displacement. The nonlinear integro-differential equation that governs the buckling of CNT is numerically solved using the differential integral quadrature method (DIQM) and Newton's method. The linear vibration problem around the static configurations is discretized using DIQM and then is solved as a linear eigenvalue problem. Numerical results are depicted to illustrate the influence of chirality angle and imperfection amplitude on static response, buckling load and dynamic behaviors of armchair and zigzag CNTs. Both, clamped-clamped (C-C) and simply supported (SS-SS) boundary conditions are examined. This model is helpful especially in mechanical design of NEMS manufactured from CNTs.

• 한국운동역학회지
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• 제16권3호
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• pp.53-63
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• 2006

The general objective of this study was to investigate biomechanical characteristics of bowling swing using three-dimensional cinematography. This study focused specifically on movements of the upper body segments during a bowling swing. Eight elite female bowling players participated in this study. Subjects performed bowling swing and their performance was sampled at 60 frame/sec using two high-speed video cameras with a synchronizer. After digitizing images from two cameras, the two-dimensional coordinates were used to produce three-dimensional coordinates of the 12 body segments (20 joint reference makers). The obtained three-dimensional coordinates were fed to a custom-written kinematic and kinetic analyses program (LabView 6.1, National Instrument, Austin, TX, USA). The analyses determined the linear and angular kinematic variables of the body segments with which joint force and torque of the lower and upper trunks and the shoulder were estimated based on the Newton-Euler equations. It was found that during the bowling swing the peak linear velocities of the body segments were reached in sequence the trunk, the shoulder, the elbow, the wrist, and the bowl. This result indicates that linear momentum of the lower body and the trunk transmits to the arm segment during the bowling swing. The joint torques of the torso and the arm occurred almost simultaneously, indicating that bowling swing seem to be a push-like motion, rather than a proximal-distal sequence motion in which many of throwing motions are categorized. The ultimate objective of the bowling swing is to release a heavy-weight bowl with power and consistency. Therefore, the bowling swing observed in this study well agrees with that bowlers use the stepping to increase the linear velocity of the bowl, the simple pendulum system and the push-like segmental motion in the torso and the arm segment to enhance the power at the release of the bowl.

• Journal of Advanced Marine Engineering and Technology
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• 제38권6호
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• pp.648-657
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• 2014

본 논문에서는 화재나 홍수로 인하여 침수된 건물 내부를 탐사할 수 있는 새로운 방수형 4축 로봇팔을 설계하고 로봇의 기구학 및 동역학 해석을 수행한다. 로봇팔은 카메라를 이용한 탐사를 위한 Pitch-Pitch-Pitch-Yaw 4축 구조로 설계하고, 이를 구동하기 위한 관절구동기의 용량을 선정한다. 또한 수심 10m의 방수가능한 관절구동기를 설계 하고 실제 구동시험을 통하여 방수성능을 검증한다. 설계한 로봇팔의 순기구학 및 역기구학 식의 해석을 통해 닫힌 해를 유도하며, 메커니컬실의 마찰력을 고려한 로봇팔의 운동방정식을 뉴턴-오일러 방법에 의해 유도한다. 유도한 동역학식을 이용하여 개발한 로봇이 목표궤적을 잘 추종할 수 있도록 슬라이딩모드 제어기를 설계하고, 시뮬레이션을 통해 그 성능을 확인한다.

• 재활복지공학회논문지
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• 제7권1호
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• pp.21-27
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• 2013

수동 휠체어의 추진은 추진 동작의 낮은 효율로 인하여 사용자의 상지 관절에 고통과 부상까지 유발할 수 있다. 이에 따라 수동 휠체어 추진 중에 발생하는 상지 관절의 운동역학적 해석이 필요하다. 본 연구에서는 수동 휠체어 추진 중 상지 관절에 작용하는 토크를 구할 수 있는 2차원 역동역학 모델을 개발하였다. 개발한 모델은 시상면에서 상완, 하완, 손에 해당하는 3개의 체절로 상지를 구성하였고 몸통으로부터 3개의 체절을 회전조인트로 연결한 개방연쇄구조를 갖는다. 역동역학 해는 뉴턴-오일러 방법으로 구하였고 요구되는 입력자료는 실험을 통하여 획득하였다. 수동 휠체어 추진에 필요한 상지 거동의 운동학적 자료는 3차원 동작분석 시스템에서 추출하였고 역동역학 모델의 외력에 해당하는 운동역학적 자료는 브레이크식 다이나모미터에서 추출하였다. 역동역학 모델을 이용한 해석을 통하여 수동 휠체어 추진에 따른 상지 관절의 회전각과 관절 토크를 구하였다. 개발된 모델은 상지 관절에 관한 생체역학적 해석 도구이며 적은 노력으로 3차원 역동역학 모델로 확장하는 토대가 된다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 1998년도 제10회 학술강연회논문집
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• pp.17-17
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• 1998

연소반응을 가지는 후류(wake)는 가스터빈 연소실의 flame holder 등에서 발생한다. 후류유동의 안정성 혹은 불안정성은 이러한 유동에 있어서 많은 영향을 끼치므로 상당히 중요하다. 본 연구는 위와 같이 연소 반응에 의한 밀도구배를 가지는 후류유동에 대하여 불안정성 해석을 수행하였다. 교란에 대한 지배방정식은 Navier-Stokes 방정식에서 점성항을 제외한 Euler 방정식을 고려하였다. 충류유동의 압력은 일정하다고 가정하였다. 교란 방정식을 유도하기 위하여 충류 유동이 평행하여 유동 방향에 수직한 방향의 구배만이 존재한다고 가정하였다. 모든 변수들은 충류 유동의 값과 움직이는 파장의 형태를 가지는 작은 교란의 합으로 생각하여 압력에 대한 교란방정식을 구하며, shooting법과 Newton-Raphson법에 근거를 두는 반복법을 사용하여 풀었다. 불안정성 해석을 수행하는 기본 유동의 속도장 및 온도장은 불안정성 해석을 수행하는 기본 유동의 속도장 및 온도장은 비압축성의 경우 우선 Gaussian Profile 가정함과 동시에 연소반응을 포함하는 유동장을 보다 정확히 구하기 위하여 Navier-Stokes 방정식으로부터 구한 결과를 사용하였다. 연소반응을 포함하는 유동장을 구할 때에는 해석상 편의를 위해 예혼합물질은 이상기체로, 화학반응은 1단계의 비가역반응으로 가정하였으며, 반응열로 인한 부력의 효과는 무시하였다. 위와 같은 유동장을 가지고 불안정성 해석을 수행한 결과 후류유동은 두 개의 변곡점을 가지며 sinuous 모드와 varicose모드의 두 개의 불안정성 모드가 있음을 보였다. 밀도 변화가 있는 경우나 밀도 변화가 없는 경우 모두 sinuous 모드의 가장 불안정한 모드가 varicose 모드의 가장 불안정한 모드보다 더 불안정함을 보여주어 후류 유동은 자유 유동에 가까운 위상 속도를 가지는 sinuous 모드에 의해 지배될 것임을 예측할 수 있다. 연소반응이 완전연소에 가까울수록 그리고 압축성 효과가 클수록 유동내부의 온도가 증가하고 점성 또한 증가하여 후류유동은 안정됨을 알 수 있었다 유동변수들의 contour로부터 유동의 특성을 예측한 결과 baroclinic 항이 dilatational 항보다 상대적으로 크며, 중심선 상하에 생기는 vortex를 더욱 성장시킬 것으로 생각된다.

• Journal of Biosystems Engineering
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• 제38권2호
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• pp.138-148
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• 2013

Purpose: Determining an appropriate path is a top priority in order for a robot to maneuver in a dynamically efficient way especially in a pick-and-place task. In a non-standardized work environment, current robot arm executes its motion based on the kinematic displacements of joint variables, though resulting motion is not dynamically optimal. In this research we suggest analyzing and applying motion patterns of the human arm as an alternative to perform near optimum motion trajectory for arbitrary pick-and-place tasks. Methods: Since the motion of a human arm is very complicated and diverse, it was simplified into two links: one from the shoulder to the elbow, and the other from the elbow to the hand. Motion patterns were then divided into horizontal and vertical components and further analyzed using kinematic and dynamic methods. The kinematic analysis was performed based on the D-H parameters and the dynamic analysis was carried out to calculate various parameters such as velocity, acceleration, torque, and energy using the Newton-Euler equation of motion and Lagrange's equation. In an attempt to assess the efficacy of the analyzed human motion pattern it was compared to the virtual motion pattern created by the joint interpolation method. Results: To demonstrate the efficacy of the human arm motion mechanical and dynamical analyses were performed, followed by the comparison with the virtual robot motion path that was created by the joint interpolation method. Consequently, the human arm was observed to be in motion while the elbow was bent. In return this contributed to the increase of the manipulability and decrease of gravity and torque being exerted on the elbow. In addition, the energy required for the motion decreased. Such phenomenon was more apparent under vertical motion than horizontal motion patterns, and in shorter paths than in longer ones. Thus, one can minimize the abrasion of joints by lowering the stress applied to the bones, muscles, and joints. From the perspectives of energy and durability, the robot arm will be able to utilize its motor most effectively by adopting the motion pattern of human arm. Conclusions: By applying the motion pattern of human arm to the robot arm motion, increase in efficiency and durability is expected, which will eventually produce robots capable of moving in an energy-efficient manner.