• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.30 no.12 s.255
• /
• pp.1564-1572
• /
• 2006

This paper presents the kinematics and workspace optimization of the two different 2-DOF (Degrees-of-Freedom) planar parallel mechanisms: one (called 2-RPR mechanism) with translational actuators and the other (called 2-RRR mechanism) with rotational ones. First of all, the inverse kinematics and Jacobian matrix of each mechanism are derived analytically. Then, the workspace including the output-space and the joint-space is systematically analyzed in order to determine the geometric parameters and the operating range of the actuators. .Finally, the kinematic optimization of the mechanisms is performed with regards to their dexterity, stiffness and space utilization. It is expected that the optimization results can be effectively used as a basic material for the applications of the presented mechanisms to more industrial fields.

• Structural Engineering and Mechanics
• /
• v.10 no.2
• /
• pp.181-195
• /
• 2000

A two-step procedure for the application of non linear constrained programming to the limit analysis of rigid brick-block systems with no-tension and frictional interface is implemented and applied to various masonry structures. In the first step, a linear problem of programming, obtained by applying the upper bound theorem of limit analysis to systems of blocks interacting through no-tension and dilatant interfaces, is solved. The solution of this linear program is then employed as initial guess for a non linear and non convex problem of programming, obtained applying both the 'mechanism' and the 'equilibrium' approaches to the same block system with no-tension and frictional interfaces. The optimiser used is based on the sequential quadratic programming. The gradients of the constraints required are provided directly in symbolic form. In this way the program easily converges to the optimal solution even for systems with many degrees of freedom. Various numerical analyses showed that the procedure allows a reliable investigation of the ultimate behaviour of jointed structures, such as stone masonry structures, under statical load conditions.

• Interaction and multiscale mechanics
• /
• v.3 no.2
• /
• pp.111-121
• /
• 2010

Dynamic analysis of nano/micro bio-sensors based on a multiscale atomistic/continuum theory is introduced. We use a generalized atomistic finite element method (GAFEM) to analyze a bio-sensor which has $3{\times}N_a{\times}N_p$ degrees of freedom, where $N_p$ is the number of representative unit cells and $N_a$ is the number of atoms per unit cell. The stiffness matrix is derived from interatomic potential between pairs of atoms. This work contains two studies: (1) the resonance analysis of nano bio-sensors with different amount of target analyte and (2) the dependence of resonance frequency on finite element mesh. We also examine the Courant-Friedrichs-Lewy (CFL) condition based on the highest resonance frequency. The CFL condition is the criterion for the time step used in the dynamic analysis by GAFEM. Our studies can be utilized to predict the performance of micro/nano bio-sensors from atomistic perspective.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1495-1499
• /
• 2003

There is some equipment that helps user to exercise and to walk. But almost all equipments require some physical strength of their muscles. So we developed a system that could assist walking action of the people with lower-limb disability. The system called as walking stand adopted the balancing mechanism which assures the stable walking, and the 4 link-based mechanism that had 2 degrees of freedom on each leg. The walking stand uses four motors and has two sets of the special link-structure to simulate the human walking mechanism. With our system, even serious disabled with lower-limb disability may enjoy walking rehabilitation. And by adjusting the power, it can be used as the walking assistant mechanism instead of conventional wheelchairs. Experiments showed that our walking stand is applicable to the rehabilitation and also to the mobile device in our daily life for those people who do not have enough physical ability to walk by themselves.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.134.2-134
• /
• 2001

This paper treats the implementation of a statically stable control system for a biped walking robot with 10 degrees-of-freedom. Statically stable walking of a biped robot can be realized by keeping the center of mass (COM) inside the sole of the supporting foot (or feet) during single-support or double-support phases. We predetermined five static positions for walking based on the COM method. The positions can be represented by the length of the gait, the width between the feet, the height of the foot and two parameters in the hip movement. With the five parameters, we calculated the position trajectory. And we got the angular trajectories of 10 joints from the posit ion trajectory using the position tracking control and neural network. By tracking the angular trajectories, the robot can walk maintaining stability. We implemented walking of a biped robot throught the above ...

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.28 no.12
• /
• pp.1494-1500
• /
• 2004

A zero-dimensional direct simulation Monte Carlo(DSMC) model is developed for simulating diatomic gas including vibrational kinetics. The method is applied to the simulation of two systems: vibrational relaxation of a simple harmonic oscillator and translational-rotational-vibrational energy exchange process under heating and cooling. In the present DSMC method, the variable hard sphere molecular model and no time counter technique are used to simulate the molecular collision kinetics. For simulation of diatomic gas flows, the Borgnakke-Larsen phenomenological model is adopted to redistribute the translational and internal energies.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.7 no.3
• /
• pp.29-36
• /
• 1998

In recent year, as the demand about low vibration and noise vehicle is increased constantly. automobile companies try to a lot of things to achieve this demand. Gear rattle vibration become an emergency problem to be cured at idling. There are two kinds method to reduce idle gear rattle vibration One is optimization of clutch damper design parameters(stiffness, hysteresis torque, preload, length of lst stage) the other is system parameters modification(inertia, drag torque, backlash, etc) But these methods are impossible to estimate influence rate of each gearpair on the idle gear rattle vibration. In this study, 14degrees of freedom nonlinear model is developed to analyze influnce rate of each gearpair on the idle gear rattle vibration and the counterplan to reduce the gear noise is suggeted through the shift system modification.

• Proceedings of the KIEE Conference
• /
• 2001.07e
• /
• pp.53-57
• /
• 2001

In the industrial motor drive system which is composed of a motor and load connected with a flexible shaft, a torsional vibration is often generated because of the elastic elements in torque transmission. To solve this problem, the two degrees of freedom $H_{\infty}$ controller was designed. But it is difficult to realize that controller. In this paper, $H_{\infty}$ control of 2-mass system using partial state feedback and resonance ratio control is proposed. Proposed controller has simple structure but satisfies the attenuation of disturbances and vibrations.

• Wind and Structures
• /
• v.1 no.1
• /
• pp.59-66
• /
• 1998

The vibrations of bodies subjected to fluid flow can cause modifications in the flow conditions, giving rise to interaction forces that depend primarily on displacements and velocities of the body in question. In this paper the linearized equations of motion for bodies of arbitrary prismatic or cylindrical cross-section in two-dimensional cross-flow are presented, considering the three degrees of freedom of the body cross-section. By restraining the rotational motion, equations applicable to circular tubes, pipes or cables are obtained. These equations can be used to determine stability limits for such structural systems when subjected to non uniform cross-flow, or to evaluate, under the quasi static assumption, their response to vortex or turbulent excitation. As a simple illustration, the stability of a pipe subjected to a bidimensional flow in the direction normal to the pipe axis is examined. It is shown that the approach is extremely powerful, allowing the evaluation of fluid-structure interaction in unidimensional structural systems, such as straight or curved pipes, cables, etc, by means of either a combined experimental-numerical scheme or through purely numerical methods.

• Structural Engineering and Mechanics
• /
• v.83 no.6
• /
• pp.825-834
• /
• 2022

The effectiveness and accuracy of the strain-based approach applied for analysis of two kinds of heterogeneous hollow cylinders subjected to thermal and mechanical loads are examined in this study. One is a multilayer cylinder in which the material in each layer is assumed to be linearly elastic, homogeneous and isotropic. Another is a hollow cylinder made of functionally graded materials with arbitrary gradient. The steady state condition without heat generation is considered. A sector in-plane finite element in the polar coordinate system based on strain approach is used. This element has only three degrees of freedom at each corner node. Analytical solutions available in the literature are presented to illustrate the accuracy of the sector element used. The obtained results for displacements and stresses are shown to be in good agreement with the analytical solutions.