• 로봇학회논문지
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• 제15권4호
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• pp.301-308
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• 2020

In this paper, we deal with the static modeling of a continuum robot that can perform surgical interventions. The proposed continuum robot is made of stainless steel wires and a multi lumen flexible tube using a thermoplastic elastomer. This continuum robot could be most severely deformed in physical contact with narrow external environments, when a lateral external force acts at the distal tip of the continuum robot. In order to predict the shape and displacement under the lateral external force loading, the forward kinematics, the statics modeling, the force-moment equilibrium equation, and the virtual work-energy method of the continuum robot are described. The deflection displacements were calculated using the virtual work-energy method, and the results were compared with the displacement obtained by the conventional cantilever beam theories. In conclusion, the proposed static modeling and the virtual work-energy method can be used in arrhythmia procedure simulations.

• 한국생산제조학회지
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• 제20권6호
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• pp.703-713
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• 2011

In this study, to minimize trial and error in the design and manufacturing processes of a high-precision large-surface micro-grooving machine which is able to fabricate the molds for 42 inch LCD light guide panels, the effects of the structural deformation of the micro-grooving machine according to the positions of the X-axis, Y-axis and Z-axis feed systems were examined on the tool tip displacement errors associated with the machining accuracy. The virtual prototype (finite element model) of the micro-grooving machine was constructed to include the joint stiffnesses of the hydrostatic bearings, hydrostatic guideways and linear motors, and then the tool tip displacement errors were measured from the virtual prototype. Especially, to establish the prediction model of the tool tip displacement errors, which was constructed using the positions of the X-axis, Y-axis and Z-axis feed systems as independent variables, the response surface method based on the central composite design was introduced. The reliability of the prediction model was verified by the fact that the tool tip displacement errors obtained from the prediction model coincided well those measured from the virtual prototype. And the causes of the tool tip displacement errors were identified through the analysis of interactions between the positions of the X-axis, Y-axis and Z-axis feed systems.

• Structural Engineering and Mechanics
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• 제54권4호
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• pp.793-807
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• 2015

Constructing the influence lines of forces of statically indeterminate structures is a traditional issue in structural engineering and mechanics. However, the existing kinematic method for establishing these force influence lines is an indirect or mixed approach by combining the force method with the theorem of reciprocal displacements, which is yet inconsistent with the kinematic method for statically determinate structure. This paper proposes the direct kinematic method in conjunction with the load-displacement differential relation for exactly constructing influence lines of reaction and internal forces of indeterminate structures. Firstly, through applying the principle of virtual displacement, the formula for influence lines of reaction and internal forces of indeterminate structure via direct kinematic method is derived based on the released structure. Then, a computational approach with a clear concept and unified procedure as well as wide applicability based on the load-displacement differential relation of beam is suggested to achieve conveniently the closed-form expression of force influence lines, and exactly draw them. Finally, three representative examples for constructing force influence lines of statically indeterminate beams and frame illustrate the superiority of the proposed method.

• 한국BIM학회 논문집
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• 제9권3호
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• pp.1-7
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• 2019

Digital twin technology has been actively developed to monitor and assess the current state of actual structures. The digital twin changes the traditional observation method performed in the field to the real-time observation and detection system using virtual online model. Thus, this study designed a digital twin model for a beam and examined the feasibility of the digital twin for bridges. To reflect the current state of the bridge, model updating was performed according to the field test data to construct an analysis model. Based on the constructed bridge analysis model, the relationship between strain and displacement was used to represent a virtual model that behaves in the same way as the actual structure. The strain and displacement relationship was expressed as a matrix derived using an approximate analytical theory. Then, displacements can be obtained using the measured data obtained from strain sensors installed on the bridge. The coordinates of the obtained displacements are used to construct a virtual digital model for the bridge. For verification, a beam was fabricated and tested to evaluate the digital twin model constructed in this study. The displacements obtained from the strain and displacement relationship agrees well with the actual displacements of the beam. In addition, the displacements obtained from the virtual model was visualized at the locations of the strain sensor.

• Structural Engineering and Mechanics
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• 제51권4호
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• pp.601-625
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• 2014

Based on continuum mechanics and the principle of virtual displacements, incremental total Lagrangian formulation (T.L.) and incremental updated Lagrangian formulation (U.L.) were presented. Both T.L. and U.L. considered the large displacement stiffness matrix, which was modified to be symmetrical matrix. According to the incremental updated Lagrangian formulation, small strain, large displacement, finite rotation of three dimensional Timoshenko fiber beam element tangent stiffness matrix was developed. Considering large displacement and finite rotation, a new type of tangent stiffness matrix of the beam element was developed. According to the basic assumption of plane section, the displacement field of an arbitrary fiber was presented in terms of nodal displacement of centroid of cross-area. In addition, shear deformation effect was taken account. Furthermore, a nonlinear finite element method program has been developed and several examples were tested to demonstrate the accuracy and generality of the three dimensional beam element.

• Geomechanics and Engineering
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• 제19권3호
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• pp.201-215
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• 2019

A new approach of analyzing the displacements and stress of the surrounding rock for shallow tunnels excavated under non-axisymmetric displacement boundary conditions on a vertical surface is investigated in this study. In the proposed approach, by using a virtual image technique, the shear stress of the vertical ground surface is revised to be zero, and elastic solutions of the surrounding rock are obtained before stress revision. To revise the vertical normal stress and shear stress of horizontal ground surface generated by the combined action of the actual and image sinks, the harmonic functions and corresponding stress function solutions were adopted. Based on the Boussinesq's solutions and integral method, the horizontal normal stress of the vertical ground surface is revised to be zero. Based on the linear superposition principle, the final solution of the displacements and stress were proposed by superimposing the solutions obtained by the virtual image technique and the stress revision on the horizontal and vertical ground surfaces. Furthermore, the ground settlements and lateral displacements of the horizontal and vertical ground surfaces are derived by the proposed approach. The proposed approach was well verified by comparing with the numerical method. The discussion based on the proposed approach in the manuscript shows that smaller horizontal ground settlements will be induced by lower tunnel buried depths and smaller limb distances. The proposed approach for the displacement and stress of the surrounding rocks can provide some practical information about the surrounding rock stability analysis of shallow tunnels excavated under non-axisymmetric displacement boundary conditions on a vertical surface.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 B
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• pp.708-710
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• 2003

This paper presents design sensitivity analysis for the electromagnetic force and torque obtained from Coulomb's virtual work method using the adjoint variable method. And virtual displacement field is calculated from a static structural analysis. Derived equations are verified by comparison with finite different method. And topology optimization for a c-core is given as a verification example.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 추계학술대회 논문집
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• pp.107-114
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• 2007

In this paper, the equations of motion by which the natural vibration of rotating thick ring can be analyzed accurately are presented. These equations are derived from the theory of finite deformation and the principle of virtual work. The effects of variation in curvature across the ring cross-section can be considered in these equations. The ring models are called as thick ring model and thin ring model respectively as the effects of variation in curvature are considered or neglected. The radial displacement of ring which is rotating at constant angular velocity is determined by a non-linear equation derived from the principle of virtual work. The equations of the in-plane and out-of-plane vibrations at disturbed state are also formulated from the principle of virtual work. They can be expressed as the combination of the radial displacement at the steady state and the disturbed displacements about the steady state. The natural vibrations of rings with different thickness are analyzed by using the presented ring models and 3-dimensional finite element method to verify accuracy of the presented equations of motion. Its results are compared and discussed.

• 한국기계가공학회지
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• 제10권6호
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• pp.140-145
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• 2011

An anisotropic beam model is proposed by employing an asymptotic expansion method for thermo-mechanical multiphysics environment. An asymptotic method based on virtual work is introduced first, and then the variables of mechanical displacement and temperature rise are asymptotically expanded by taking advantage of geometrical slenderness of elastic bodies. Subsequently substituting these expansions into the virtual work principle allows us to asymptotically expand the virtual work. This will yield a set of recursive virtual works from which two-dimensional microscopic and one-dimensional macroscopic equations are systematically derived at each order. In this way, homogenized stiffnesses and thermomechanical coupling coefficients are derived. To demonstrate the validity and efficiency of the proposed approach, composite beams are taken as a test-bed example. The results obtained herein are compared to those of three-dimensional finite element analysis.

• Earthquakes and Structures
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• 제13권3호
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• pp.241-253
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• 2017

In this paper, dynamic response of the horizontal nanofiber reinforced polymer (NFRP) strengthened concrete beam subjected to seismic ground excitation is investigated. The concrete beam is modeled using hyperbolic shear deformation beam theory (HSDBT) and the mathematical formulation is applied to determine the governing equations of the structure. Distribution type and agglomeration effects of carbon nanofibers are considered by Mori-Tanaka model. Using the nonlinear strain-displacement relations, stress-strain relations and Hamilton's principle (virtual work method), the governing equations are derived. To obtain the dynamic response of the structure, harmonic differential quadrature method (HDQM) along with Newmark method is applied. The aim of this study is to investigate the effect of NFRP layer, geometrical parameters of beam, volume fraction and agglomeration of nanofibers and boundary conditions on the dynamic response of the structure. The results indicated that applied NFRP layer decreases the maximum dynamic displacement of the structure up to 91 percent. In addition, using nanofibers as reinforcement leads a 35 percent reduction in the maximum dynamic displacement of the structure.