• Journal of the Korean Society for Precision Engineering
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• v.17 no.9
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• pp.87-94
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• 2000

In this paper we discuss the control scheme on cooperative control of two flexible manipulators working in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from the scheme for two cooperating rigid manipulators to that for flexible ones. in addition to the control vibration suppression control based upon a lumped-mass-spring model of the flexible manipulators is applied. To illustrate the validity of the proposed control scheme we show experimental results. in the experiment a rigid object is handled by two cooperating flexible manipulators in 3D space.

• Journal of Mechanical Science and Technology
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• v.14 no.2
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• pp.188-196
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• 2000

In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using $ADAMS^{TM}$ (Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.

• Structural Engineering and Mechanics
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• v.63 no.5
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• pp.691-702
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• 2017

Clearances are essential for the assemblage of mechanisms to allow the relative motion between the joined bodies. This clearance exists due to machining tolerances, wear, material deformations, and imperfections, and it can worsen the mechanism performance when the precision and smoothly-working are intended. Energy is a subject which is less paid attention in the area of clearance. The effect of the clearance on the energy of a flexible slider-crank mechanism is investigated in this paper. A clearance exists in the joint between the slider and the coupler. The contact force model is based on the Lankarani and Nikravesh model and the friction force is calculated using the modified Coulomb's friction law. The hysteresis damping which has been included in the contact force model dissipates energy in clearance joints. The other source for the energy loss is the friction between the journal and the bearing. Initial configuration and crank angular velocity are changed to see their effects on the energy of the system. Energy diagrams are plotted for different coefficients of friction to see its influence. Finally, considering the coupler as a flexible body, the effect of flexibility on the energy of the system is investigated.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.10a
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• pp.220-225
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• 2013

In this study, active control system using sliding mode control method is presented to achieve the gust response alleviation of a three-dimensional flexible wing model. For this purpose, aeroservoelastic model which is composed of aeroelastic plant, control surface actuator model, and gust model depicting the atmospheric turbulence is formulated in the state space. The aerodynamic force generated by the motion of a trailing edge control surface of a flexible wing is made use of as control means. An active control system combining state feedback sliding mode controller and state estimator based on measured responses such as wing tip acceleration and wing root strain is designed for gust response alleviation of a flexible wing aeroservoelastic model. The performance of the controller designed is demonstrated via numerical simulation for the representative flexible wing model under gust loading conditions.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.380-383
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• 2006

The media transport system is used in a printer, a ATM(Automated Tellor Machine), and so on. The media transport system has many problems through miniaturization and rapid transportation of these machines. In the paper feeding mechanism, it is important to feed the sheet without jamming under any conditions. To avoid sheet jamming, first we need to predict the behavior of the sheet exactly. In this paper, the analysis of media behavior is based on J. Stolte's studies. In all of OA machines, a flexible beam or plate is pushed from the channel. The motion may be constrained by guides. This leads to a transient and geometrically nonlinear problem. The behavior of paper is simulated by dynamic elastica theory. The shape of guide is represented by parametric cubic curve. But J. Stolte's studies did not considered contact condition between sheet and guide. So Klarbring's Model. will be applied. And the analysis of flexible media has to include aerodynamic effect for more exact behavior analysis, because the flexible media can be deformed drastically by a little force. Therefore aerodynamic force must be applied to the governing equation. Lastly, the simulation of this model is performed, and the experiment is performed for verification of this model. The experimental results of low exit velocity are consistent with the simulation results, however experimental results of high exit velocity do not agree well with analytical results. The reason is that there may be other effects like nip Phenomena

• Journal of the Earthquake Engineering Society of Korea
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• v.27 no.6
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• pp.303-310
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• 2023

The equivalent static load for non-structural elements has a limitation in that the sloshing effect and the interaction between the fluid and the water tank cannot be considered. In this study, the equations to evaluate the impulse and convective components in the design codes and previous research were compared with the shaking table test results of a rectangular water tank with flexible wall panels. The conclusions of this study can be summarized as follows: (1) It was observed that the natural periods of the impulsive component according to ACI 350.3 were longer than system identification results. Thus, ACI 350.3 may underestimate the earthquake load in the case of water tanks with flexible walls. (2) In the case of water tanks with flexible walls, the side walls deform due to bending of the front and back walls. When such three-dimensional fluid-structure interaction was included, the natural period of the impulsive component became similar to the experimental results. (3) When a detailed finite element (FE) model of the water tank was unavailable, the assumption S_ai = S_DS could be used, resulting in a reasonably conservative design earthquake load.

• Journal of Power Electronics
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• v.11 no.3
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• pp.319-326
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• 2011

Nowadays numerous research projects are being conducted in the field of electric motors. Non-modeling of flexible connections such as couplings and the belt-pulley do not show some real behaviors. With an increase in the number of connections and drive factors, these Non-modeled modes become more important. The coupling of two electric motors, instead of one motor, in submarine propeller force is an obvious example which shows that Non-modeled vibration modes caused by flexible connections can disturb controller operation and make undesirable vibrations in the submarine body. In this paper a dynamic model of flexible connections and a completed dynamic model of two different coupled electric models is presented. A robust controller for the completed model is also amended so that the two controlling targets of a desired speed adjustment and an appropriate load division between the two motors with sufficient accuracy are achieved.

• Structural Engineering and Mechanics
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• v.59 no.4
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• pp.739-759
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• 2016

The failure of civil engineering systems is a consequence of decision making under uncertain conditions. Generally, buried flexible pipes are designed for their transversal behavior to prevent from the important failure mode of buckling. However, the interaction effects between soil and pipe are neglected and the uncertainties in their properties are usually not considered in pipe design. In this regard, the present research paper evaluates the effects of these uncertainties on the uncertainty of the critical buckling hoop force of flexible pipes shallowly buried using the subgrade reaction theory (Winkler model) and First-Order Second-Moment (FOSM) method. The results show that the structural uncertainties of the studied pipes and those of the soil properties have a significant effect on the uncertainty of the critical buckling hoop force, and therefore taking into account these latter in the design of the shallowly flexible pipes for their buckling behavior is required.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.2
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• pp.288-297
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• 1990

The method of analyzing flexible mechanisms with clearances was studied considering flexibility of beams in the mechanism using finite elements. Both ends of a beam were modeled as free following Dubowsky's impact pair model. Instead some force constraints were imposed at imposed at the connections between adjoining links. Coulomb model has been developed using dry frictions in place of tangential damping forces in the impact pair model and the contact compliance and damping coefficient approximated in a form of root function were used. As examples, impacts of a rigid ball in a cylinder, impact beam model and four-bar mechanisms made up of three flexible links with clearance connections were simulated numerically. The results from examples showed similar but a little bit smaller magnitude of impact forces compared with published studies.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.592-598
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• 1992

For a high bandwidth, accurate end of arm motion control with good disturbance rejection, the, Momentum Management Approach to Motion control (MMAM) is proposed. The MMAM is a kind of position control technique that uses inertial forces, applied at or near the end of arm to achieve, high bandwidth and accuracy in movement and in the face of force disturbances. To prove the concept of MMAM, the, end point, control of a flexible manipulator is considered. For this purpose, a flexible beam is mounted on the x-y table, and the MMAM actuator is attached on the top of the flexible beam. A mathematical model is developed for the flexible, beam being controlled by the, MMAM actuator and slide base DC motor. A system identification method is applied to estimate some system parameters in the, model which can not be determined because of the complexity of the mechanism. For the end point, control of the. flexible beam, the, optimal linear output feedback control is introduced.