• Nuclear Engineering and Technology
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• v.56 no.10
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• pp.4412-4422
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• 2024

The CFETR multipurpose overload robot (CMOR) is a critical component of the fusion reactor remote handling system. To accurately calculate and visualize the structural deformation and stress characteristics of the CMOR motion process, this paper first establishes a CMOR kinematic model to analyze the unfolding and working process in the vacuum chamber. Then, the dynamic model of CMOR is established using the Lagrangian method, and the rigid-flexible coupling modeling of CMOR links and joints is achieved using the finite element method and the linear spring damping equivalent model. The co-simulation results of the CMOR rigid-flexible coupled model show that when the end load is 2000 kg, the extreme value of the end-effector position error is more than 0.12 m, and the maximum stress value is 1.85 × 10⁸ Pa. To utilize the stress-strain data of CMOR, this paper designs a CMOR morphology prediction control system based on Unity software. Implanting CMOR finite element analysis data into the Unity environment, researchers can monitor the stress strain generated by different motion trajectories of the CMOR robotic arm in the control system. It provides a platform for subsequent research on CMOR error compensation and extreme operation warnings.

• Structural Engineering and Mechanics
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• v.62 no.5
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• Journal of the Korean Society of Safety
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• v.34 no.5
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• pp.87-94
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• 2019

This study deals with the reliability analysis approach of the temporary structure that can consider the uncertainty in rotational stiffness at the joints of the members, for which the semi-rigid connections are modelled as rotational spring and its coefficient is treated as a random variable following uniform distribution. In addition, this study introduces a computational procedure of the effective length coefficient for more accurate buckling load according to connection conditions of the supporting members attached to the joint. From the results of this study, it can be seen that the failure probability of the joint-hinge model (Case 1) presented in the design standard is higher than that of the practical model (Case 5) considering the rotational stiffness at the joints. This implies that the design standard leads to a conservative design of the temporary structure. The results also confirmed that the failure probability of the vertical member, i.e., the most critical member, can be further reduced when the base connection is provided with a fixed end. The comparative results between FORM, SORM and MCS further demonstrated that FORM can have a high level of numerical efficiency while ensuring the accuracy of the solution, compared with SORM and MCS. Based on these results, the proposed approach can be used as an accurate and efficient reliability analysis method of the three dimensional temporary structure.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.3
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• pp.11-17
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• 1998

In this study, a procedure is presented for the dynamic analysis of a multibody tracked vehicle system. the planner tracked vehicle model used in this investigation is assumed to consist of two kinematically decoupled subsystems, i.e., the chassis subsys- tem and track sub-system. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. The recursive kinematic and dynamic formulation module of the vehicle will be developed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.411-420
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• 2000

This paper presents a new method for calculating contact position and contact force. The proposed method calculates accurate contact position by introducing intermediate parameters. Accurate contac t force can be obtained by solving reduced equations of motion iteratively. This method can be applied to calculate not only contact force on contact points but also contact force on kinematic joints such as a rotational joint and a translational joint. Four numerical examples are given to demonstrate the effectiveness of the proposed algorithm.

• Transactions of the Korean Society of Mechanical Engineers
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• v.7 no.1
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• pp.52-63
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• 1983

The purpose of the study is to find development of contact area, contact pressure and friction forces occurring at joints or connection areas inbetween structural members or mechanical parts. The problem has a pair of difficulties intrinsically; a constraint of displacement due to contact, and presence of work term by nonconservative friction force in the variational principle of the problem. Because of these difficulties, the variational principle remains in the form of inequality. It is resolved by penalty method and perturbation method making the inequality to an equality which is proper for computational purposes. A contact problem without friction is solved to find contact area and contact pressure, which are to be used as data for the analysis of the friction problem using perturbed variational principle. For numerical experiments, a Hertz problem, a rigid punch problem, and the latter one with friction effects are solved using $Q_2$-finite elements.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.2
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• pp.220-227
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• 1998

In substitution of beam-nonlinear spring model for real-car, it may have errors due to complicated characteristics of joint and overestimation of joints stiffness. In this research, a method for the joint modeling was suggested by nonlinear static and dynamic analyses of beam and shell joint models and verified by the application of accomplished joint modeling method to simplified full car model. In consequence, modified simplified full car model was improved in local acceleration and rigid wall force. Finally, the frontal crash analyses with the dummy were established and the accelerations of accelerations of head, chest and pelvis had good agreements with those of shell model.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.8
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• pp.157-163
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• 2004

Scoliosis is a complex musculoskeletal dieses requiring 3-D treatment with surgical instrumentation. To investigate the effects of correction surgery, a finite element model of personalized model of the scoliotic spine that will allow the design of clinical test providing optimal estimation of the post-operation results was developed. Three dimensional skeletal parts, such as vertebrae, clavicle and scapular were modeled as rigid bodies with keeping their morphologies. Kinematical joints and spring elements were adapted to represent the inter-vertebral disc and ligaments respectively. With this model, two types of surgery procedure, distraction procedure with Harrington device and rod derotation procedure with pedicle screw and rod system had been carried out. The obtained simulation results were comparatively corresponding to the post operational outcomes and successfully demonstrated qualitative analysis of surgical effectiveness. From this analysis, it has been found that the preparing of appropriate rod curvature and its insertion was more important than just performing the excessive derotation for scoliosis correction.

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.1
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• pp.5-10
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• 2001

A method is proposed to obtain the Jacobian matrix of the 5 -bar parallel manipulator by employing the orthogonality between position and velocity vectors of rotating rigid-body around a fixed point. The dynamics of the 5-bar parallel manipulator is analyzed and utilized to design the computed-torque controller by developing a transformation matrix of the passive joints with respect to the active ones. In experimental demonstration, it shows that high-speed and accuracy tasks are performed by the proposed computed-torque control.

• Journal of Industrial Technology
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• v.22 no.B
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• pp.45-50
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• 2002

Airbag systems have improved the occupant safety in reducing the injuries of driver and passenger during collisions. They have occasionally caused fatalities; especially to small occupant and children. Recent airbag related fatalities of children have raised serious concerns on how to evaluate the safety of children in various crash environments. This paper present the development of the 3-year-old human model. Child human model is composed of skin, skeleton and joints. The positions of joint and mass properties of body segments are calculated from ARB(Ariticulated Rigid Body) program GEBOD. To verify the developed human model, ROM simulation and OOP simulations are conducted.