• Journal of the Korean Society for Precision Engineering
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• v.26 no.6
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• pp.106-113
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• 2009

A 6-DOF precision stage was developed based on parallel kinematics structure with flexure hinges to eliminate backlash, stick-slip and friction and to minimize parasitic motion coupled with motions in the other-axis directions. For the stage, lever linkage mechanism was devised to reduce the height of system for the enhancement of horizontal stiffness. Frequency response comparison between experimental results and mathematical model extracted from dynamics of the stage was performed to identify the system parameters such as spring constants and damping coefficients of actuation modules, which cannot be calculated accurately by analytic methods owing to their complicated structures. This newly developed precision stage and its identified model will be very useful for precision positioning and control because of its high accuracy and non-coupled movement.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.9 s.240
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• pp.1191-1198
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• 2005

This paper is concerned with the numerical investigation of the landing impact characteristics of sport shoes to the landing mode. In most court sport activities, jumping and landing are fundamental motions, and the landing motion is largely composed of forefoot and rearfoot landing modes. Since the landing impact may, but frequently, lead to unexpected injuries of players, the investigation of its characteristics and the sport shoes design for reducing it are of a great importance. To investigate the landing impact characteristics to the landing mode, we construct a shoes-leg coupled model and carry out the numerical simulation by an explicit finite element method.

• Earthquakes and Structures
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• v.9 no.3
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• pp.625-637
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• 2015

It is usual in design and assessment of structures to isolate the effects of vertical and horizontal excitations by ignoring their coupling effects. In this situation, total structural response is obtained by employing the well-known combination rules whereby independent assumed response components of earthquakes are combined. In fact, the effects of the simultaneity of the ground motion components are ignored. In this paper, the effect of vertical excitation on horizontal response of structures, the coupling of vertical and horizontal responses, has been evaluated. A computer program is prepared to perform nonlinear dynamic analysis based on the derived governing equations of coupled motions. In the case of simultaneous excitation the results show significant increases in spectral displacement in some periods of vibration in comparison to only horizontally excited systems. Moreover, whenever ratio of the vertical peak ground acceleration to horizontal one become larger, the significant increase in horizontal spectral displacements are observed.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.9
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• pp.103-111
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• 2009

Multi-climbing hydraulic robots are used to lift construction factory (CF) synchronously for applications in the automation of a high-rise building construction. In this study, synchronous motion controller is proposed for the hydraulic robots, whose strategy is not only to make each robot follow the reference path basically by sliding-mode control, but also to synchronize motions of two adjacent cent robots consecutively by cross-coupled control technique. Simulations are performed by using SIMULINK for a system similar to a practical application that includes unbalance in CF and wind disturbance. The results show that the proposed controller significantly reduces synchronous errors, compared to the individual controller for each hydraulic robot.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.10a
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• pp.101-109
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• 1997

An analytical procedure on the base of the substructure synthesis and assumed modes method is developed to investigate the flexibility effect of bladed disk assembly on vibrational modes of flexible rotor system. In modeling the system, Coriolis forces, gyroscopic moments, and centrifugal stiffening effects are taken into account. The coupled vibrations between the shaft and bladed disk are then extensively investigated through the numerical simulation of simplified models, with varying the shaft rotational speed and the pretwist and stagger angles of the blade. It is found that the Coriolis and inertia forces and the inertia torque, which are induced by the one nodal diameter modes of the bladed disk and vary depending upon the stagger and pretwist angles, lead to the coupled motions of the shaft and the bladed disk.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.669-674
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• 1989

Robot manipulators are highly coupled nonlinear systems and their motions are influenced by uncertain dynamics. In this paper a design methodology which is called model feedback control system or plant model control scheme is presented for the purpose of reducing the influence of the uncertain dynamics. This control system is applied to the trajectly control of the directly drived robot. Theoretically and experimentally performances resulting from use of this control scheme show that the influences of the uncertain dynamics are reduced obviously.

• Coupled systems mechanics
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• v.4 no.4
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• pp.297-316
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• 2015

The use of fragility curves in the design of bridges is becoming common these days. In this study, experimental data have been used to develop fragility curves for the potential of girder unseating of a three-segment bridge and a bridge-abutment system including the influence of spatially varying ground motions, pounding, and abutment movement. The ground excitations were simulated based on the design spectra for different soil conditions. The Newmarket Viaduct replacement bridge in Auckland was used as the prototype bridge. These fragility curves were also applied to the 2010 Darfield and 2011 Christchurch earthquakes. The study showed that for bridges with similar characteristics as the chosen prototype and with similar fundamental frequencies, pounding could increase the probability of girder unseating by up to 35% and 30% based on the AASHTO and NZTA seating length requirements, respectively. The assumption of uniform ground excitations in many design practices, such as the NZTA requirements, could potentially be disastrous as girders might have a very good chance of unseating (as much as 53% higher chances when considering spatial variation of ground motions) even when they are designed not to. In the case of superstructures with dissimilar frequencies, the assumption of fixed abutments could significantly overestimate the girder unseating potential when pounding was ignored and underestimate the chances when pounding was considered. Bridges subjected to spatially varying ground excitations simulated based on the New Zealand design spectra for soft soil conditions with weak correlation shows the highest chances of girders falling off, of up to 65% greater than for shallow soil excitations.

• Ocean Systems Engineering
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• v.4 no.3
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• pp.215-241
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• 2014

Steel catenary riser (SCR) is a popular/economical solution for the oil/gas production in deep and ultra-deep water. The behavioral characteristics of SCR have a high correlation with the motion of floating production facility at its survival and operational environments. When large motions of surface floaters occur, such as FPSO in 100-yr storm case, they can cause unacceptable negative tension on SCR near TDZ (touch down zone) and the corresponding elastic deflection can be large due to local dynamic buckling. The generation, propagation, and decay of the elastic wave are also affected by SCR and seabed soil interaction effects. The temporary local dynamic buckling vanishes with the recovery of tension on SCR with the upheaval motion of surface floater. Unlike larger-scale, an-order-of-magnitude longer period global buckling driven by heat and pressure variations in subsea pipelines, the sub-critical local dynamic buckling of SCR is motion-driven and short cycled, which, however, can lead to permanent structural damage when the resulting stress is greatly amplified beyond the elastic limit. The phenomenon is extensively investigated in this paper by using the vessel-mooring-riser coupled dynamic analysis program. It is found that the moment of large downward heave motion at the farthest-horizontal-offset position is the most dangerous for the local dynamic buckling.

• Earthquakes and Structures
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• v.7 no.6
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• pp.1071-1091
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• 2014

Pounding of adjacent structures are always a notable reason for damages after strong ground motions, but it is already unforeseen detail in newly constructed structures. Thus, several approaches have been proposed in order to prevent the pounding of structures. By using optimally tuned mass dampers, it is possible to decrease the displacement vibrations of structures. But in adjacent structures, the response of both structures must be considered in the objective function of optimization process. In this paper, two different designs of Tuned Mass Dampers (TMD) are investigated. The first design covers independent TMDs on both structures. In the second design, adjacent structures are coupled by a TMD on the top of the structures. Optimum TMD parameters are found by using the developed optimization methodology employing harmony search algorithm. The proposed method is presented with single degree of freedom and multiple degree of freedom structures. Results show that the coupled design is not effective on multiple degree of freedom adjacent structures. The coupled design is only effective for rigid structures with a single degree of freedom while the use of independent TMDs are effective on both rigid and flexural structures.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.3
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• pp.252-261
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• 2016

A spar-type floating substructure that is being widely used for offshore wind power generation is vulnerable to resonance in the heave direction because of its small water plane area. For this reason, the stable dynamic response of this floating structure should be ensured by accurately identifying the resonance characteristics. The purpose of this study is to analyze the characteristics of the combination resonance between the excitation frequency of a regular wave and natural frequencies of the floating substructure. First, the nonlinear equations of motion with two degrees of freedom are derived by assuming that the floating substructure is a rigid body, where the heaving motion and pitching motions are coupled. Moreover, to identify the characteristics of the combination resonance, the nonlinear term in the nonlinear equations is approximated up to the second order using the Taylor series expansion. Furthermore, the validity of the approximate model is confirmed through a comparison with the results of a numerical analysis which is made by applying the commercial software ANSYS AQWA to the full model. The result indicates that the combination resonance occurs at the frequencies of ${\omega}{\pm}{\omega}_5$ and $2{\omega}_{n5}$ between the excitation frequency (${\omega}$) of a regular wave and the natural frequency of the pitching motion (${\omega}_{n5}$) of the floating substructure.