• Structural Engineering and Mechanics
• /
• 제62권5호
• /
• pp.619-629
• /
• 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.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2007년도 춘계학술대회논문집
• /
• pp.1181-1184
• /
• 2007

이 논문에서는 단부가 힌지와 회전스프링으로 지지된 원호 아치의 면내 자유진동에 대한 지배 미분방정식을 수치해석하여 대상 구조에 대한 최저차 4개의 고유진동수 및 진동형을 산출하였다. 축변형, 회전관성 및 전단변형 효과를 고려한 지배방정식을 채택하였으며, 해석결과로서 아치 중심각, 세장비 및 단부의 회전스프링상수 변화에 따른 고유진동수 및 진동형의 변화를 고찰하였다.

• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2008년도 추계학술대회A
• /
• pp.838-843
• /
• 2008

Since thickness deformation and lateral deflection often occurs during the collision of flexible bodies, they should be considered simultaneously in the impact analysis. The thickness deformation, however, cannot be considered in beam/shell theory since the thickness is assumed to be constant in the theory. So, solid elements are employed to estimate the thickness deformation. However, the CPU time increases significantly if solid elements are employed. In the present study, a modeling method for the impact analysis of a flexible body employing Hertzian contact theory is presented. The efficiency and the accuracy of the modeling method are discussed with some numerical examples.

• 한국해양공학회지
• /
• 제33권5호
• /
• pp.377-386
• /
• 2019

Flexible composite propellers have a relatively large deformation under heavy loading conditions. Thus, it is necessary to accurately predict the deformation of the blade through a fluid-structure interaction analysis. In this work, we present an LST-FEM method to predict the deformation of a flexible composite propeller. Here, we adopt an FEM solver called OOFEM to carry out a structural analysis with an orthotropic linear elastic composite material. In addition, we examine the influence of the lamination direction on the deformation of the flexible composite propeller.

• 한국항공우주학회지
• /
• 제36권8호
• /
• pp.734-739
• /
• 2008

본 논문에서는 미시 및 중시 역학의 2-단계 해석 전략을 채택하여 유연직물 복합재료의 기계적 거동을 예측하였다. 미시역학에서는 섬유다발의 유효물성치를 계산하였고 그 결과를 이용해 중시역학에서 유연직물복합재료의 인장탄성계수를 예측하였다. 중시역학 해석 과정에서는 섬유다발의 회전 및 전단 대변형에 의한 기하학적 비선형성을 고려하기 위하여 사용자 정의 부프로그램을 개발하여 ABAQUS 내에 삽입하였다. 해석결과, 인장하중을 받는 유연직물복합재료의 응력-변형률은 비선형 거동을 보였고, 계산된 유효탄성계수는 시험값과 잘 일치하는 것으로 나타났다.

• 한국해안해양공학회지
• /
• 제7권3호
• /
• pp.219-226
• /
• 1995

본 연구에서는 PVC나 PU와 같은 유연성이 있는 유연막 방파제와 임의의 입사각을 갖는 파의 상호작용문제를 다루었다. 유연막 방파제에 작용하는 파랑하증을 구하기 위하여 고유함수전개법(eigen-function expansion method)을 사용하였다. 이때 유연막의 변형이 유체장에 미치는 영향은 경계조건식으로부터 표현된다. 경계조건식에서 유연막의 변형은 막 방정식을 풀어 구한다. 계산 예로 유연막에 작용하는 장력과 계류삭의 강성계수 그리고 유연막의 높이를 변화시키면서 투과율과 반사율의 차이를 비교하였고, 입사각도의 변화에 따른 방파 효과의 차이를 살펴보았다. 결론적으로 유연막 구조물을 적절히 설계한다면 미래의 훌륭한 방파제로 활용이 가능하다고 여겨진다.

• 한국정밀공학회지
• /
• 제10권3호
• /
• pp.107-116
• /
• 1993

In the design and operation of robitic arm with flexible links, the equation of motion are required to exactly model the interaction between rigid body motion and elastic motion and to be formulated efficientlyl. In this paper, the flexible link is represented by applying the D-H rigid link representation method to measure the elestic deformation. And the equations of motion of robotic arm, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated from the principle of virtual power. Dynamic characteristics due to elastic deformation of each link are obtained by using F. E. M to model complex shaped link acurately and by eliminating elastic modes of higher order that do not largely affect motion to reduce the number of elastic degrees of freedom. Also presented is the result of simulation of flexible robotic arms whose joints are controlled by direct or PD control.

• Journal of Computing Science and Engineering
• /
• 제11권3호
• /
• pp.79-91
• /
• 2017

In this paper, the abdominal-deformation measurement scheme is conducted on a shape-flexible mannequin using the DIC technique in a stereo-vision system. Firstly, during the integer-pixel displacement search, a novel fractal dimension based on an adaptive-ellipse subset area is developed to track an integer pixel between the reference and deformed images. Secondly, at the subpixel registration, a new mutual-learning adaptive particle swarm optimization (MLADPSO) algorithm is employed to locate the subpixel precisely. Dynamic adjustments of the particle flight velocities that are according to the deformation extent of each interest point are utilized for enhancing the accuracy of the subpixel registration. A test is performed on the abdominal-deformation measurement of the shape-flexible mannequin. The experiment results indicate that under the guarantee of its measurement accuracy without the cause of any loss, the time-consumption of the proposed scheme is significantly more efficient than that of the conventional method, particularly in the case of a large number of interest points.

• Structural Engineering and Mechanics
• /
• 제30권4호
• /
• pp.427-444
• /
• 2008

A mathematical model for the nonlinear dynamics of a rotating beam with flexible root attached to a rotating hub with elastic foundation is developed. The model is developed based on the large planar and flexural deformation theory and the potential energy method to account for axial shortening due to bending deformation. In addition the exact nonlinear curvature is used in the system potential energy. The Lagrangian dynamics and the assumed mode method is used to derive the nonlinear coupled equations of motion hub rotation, beam tip deflection and hub horizontal and vertical displacements. The derived nonlinear model is simulated numerically and the results are presented and discussed for the effect of root flexibility, hub stiffness, torque type, torque period and excitation frequency and amplitude on the dynamic behavior of the rotating beam-hub and on its stability.

• Journal of Mechanical Science and Technology
• /
• 제16권7호
• /
• pp.896-901
• /
• 2002

This paper presents a nonlinear modeling method for dynamic analysis of flexible structures undergoing overall motions that employs the mode approximation method. This method, different from the naive nonlinear method that approximates only Cartesian deformation variables, approximates not only deformation variables but also strain variables. Geometric constraint relations between the strain variables and the deformation variables are introduced and incorporated into the formulation. Two numerical examples are solved and the reliability and the accuracy of the proposed formulation are examined through the numerical study.