• 한국소음진동공학회논문집
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• 제14권2호
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• pp.150-156
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• 2004

In this paper, the dynamic behavior of a very flexible cable due to moving multibody system along its length is presented. The very deformable motion of a cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. Formulation for the sliding joint between a very flexible beam and a rigid body is derived. In order to formulate the constraint equations of this joint, a non-generalized coordinate, which has no inertia or forces associated with this coordinate, is used. The modeling of this sliding joint is very important to many mechanical applications such as the ski lifts. cable cars, and pulley systems. A multibody system moves along an elastic cable using this sliding joint. A numerical example is shownusing the developed analysis program for flexible multibody systems that include a large deformable cable.

• 대한기계학회논문집A
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• 제29권8호
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• pp.1123-1131
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• 2005

In this paper, a formulation for a spatial sliding joint, which a general multibody can move along a very flexible cable, is derived using absolute nodal coordinates and non-generalized coordinate. The large deformable motion of a spatial cable is presented using absolute nodal coordinate formulation, which is based on the finite element procedures and the general continuum mechanics theory to represent the elastic forces. And the non-generalized coordinate, which is neither related to the inertia forces nor external forces, is used to describe an arbitrary position along the centerline of a very flexible cable. In the constraint equation for the sliding joint, since three constraint equations are imposed and one non-generalized coordinate is introduced, one constraint equation is systematically eliminated. Therefore, there are two independent Lagrange multipliers in the final system equations of motion associated with the sliding joint. The development of this sliding joint is important to analyze many mechanical systems such as pulley systems and pantograph/catenary systems for high speed-trains.

• 대한조선학회논문집
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• 제50권5호
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• pp.349-354
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• 2013

The blades of flexible propellers are formed by overlaying and adhering many layers of thin glass-fiber fabric sheets, are compressed and dried in the rigid mold. The current manufacturing process can not avoid the rather irregular deformation of the blades composed of non-isotropic non-uniform fabric structures, and inevitably introduces the different shape-forming errors between blades. In this paper, several flexible model propellers are precisely measured with three-dimensional optical instrument and compared with the original design geometry. The model propellers with the as-measured geometry are evaluated with the lifting-surface-theory-based propeller analysis code. The open-water performance are presented and discussed. The importance of the manufacturing accuracy is addressed to be able to apply the flexible propellers for propulsion of marine vehicles.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권3호
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• pp.652-669
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• 2014

This paper concerns the kinematic characteristics of a coupling device in a deep-seabed mining system. This coupling device connects the buffer system and the flexible pipe. The motion of the buffer system, flexible pipe and mining robot are affected by the coupling device. So the coupling device should be considered as a major factor when this device is designed. Therefore, we find a stable kinematic device, and apply it to the design coupling device through this study. The kinematic characteristics of the coupling device are analyzed by multi-body dynamics simulation method, and finite element method. The dynamic analysis model was built in the commercial software DAFUL. The Fluid Structure Interaction (FSI) method is applied to build the deep-seabed environment. Hydrodynamic force and moment are applied in the dynamic model for the FSI method. The loads and deformation of flexible pipe are estimated for analysis results of the kinematic characteristics.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2010년도 제39회 하계학술대회 초록집
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• pp.176-176
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• 2010

One of the critical issues for applications of flexible organic thin film transistors (OTFTs) for flexible electronic systems is the electrical stabilities of the OTFT devices, including variation of the current on/off ratio (Ion/Ioff), leakage current, threshold voltage, and hysteresis under repetitive mechanical deformation. In particular, repetitive mechanical deformation accelerates the degradation of device performance at the ambient environment. In this work, electrical stability of the pentacene organic thin film transistors (OTFTs) employing multi-stack hybrid encapsulation layers was investigated under mechanical cyclic bending. Flexible bottom-gated pentacene-based OTFTs fabricated on flexible polyimide substrate with poly-4-vinyl phenol (PVP) dielectric as a gate dielectric were encapsulated by the plasma-deposited organic layer and atomic-layer-deposited inorganic layer. For cyclic bending experiment of flexible OTFTs, the devices were cyclically bent up to 105 times with 5mm bending radius. In the most of the devices after 105 times of bending cycles, the off-current of the OTFT with no encapsulation layers was quickly increased due to increases in the conductivity of the pentacene caused by doping effects from $O_2$ and $H_2O$ in the atmosphere, which leads to decrease in the Ion/Ioff and increase in the hysteresis. With encapsulation layers, however, the electrical stabilities of the OTFTs were improved significantly. In particular, the OTFTs with multi-stack hybrid encapsulation layer showed the best electrical stabilities up to the bending cycles of $10^5$ times compared to the devices with single organic encapsulation layer. Changes in electrical properties of cyclically bent OTFTs with encapsulation layers will be discussed in detail.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.203-208
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• 2003

In this paper, gait generation algorithm based on Linear Inverted Pendulum Mode is extended considering that the terrain is uncertain and flexible. Deformation of the soft terrain by the weight of the biped robot is taken into account to design the desired motion of the swing leg. Landing time disagreement caused by dynamics of the robot is also considered and a method to adjust gait is proposed. Results of numerical simulation show the effectiveness of the proposed method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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• pp.233-238
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• 2001

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link represented to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M to model complex shaped links systematically and by eleminating elastic mode of higher order that does not largely affect option to reduce the number of elastic degree of freedom. Finally presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control.

• 한국산학기술학회논문지
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• 제10권1호
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• pp.1-5
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• 2009

본 논문에서는 Flexible Flat Cable을 생산하는 기계에서 작업시 텐션양을 조절하는 콘트롤러에 대해 하중과 모멘트를 변화시켜 적용하고 또한 텐션 콘트롤러 각각의 하중이 프레임에 집중할 때 처짐량을 알기 위하여 ANSYS로 구조해석을 수행하였다. 해석 결과로는 응력, 변형률과 최대변형량을 구하여 구조적 타당성을 검토하고 이를 설계에 반영한다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.314-319
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• 2000

The working surface of a flexible grinding disk was characterized by means of an image processing, in which a picture of a disk surface was taken by the CCD camera and analyzed with the personal computer. As process conditions, depth of cut was changed to be 2 and 4 mm. From the captured image circles marked on the disk was regenerated using the edges detected with scale space filtering. In order to correlate the level of deformation to the distortion of the circles, intervals between each circle have been analyzed. Notable correlation has been observed between the intervals and the process conditions.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 추계학술대회 논문요약집
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• pp.239-239
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• 2003