• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.688-695
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• 2005

This paper describes dynamic manipulability analysis of robotic arms moving in viscous fluid. The manipulability is a functionality of manipulator system in a given configuration under the limits of joint ability with respect to the task required to be performed. To investigate the manipulability of underwater robotic arms, a modeling and analysis method is presented. The dynamic equation of motion of underwater manipulator is derived based on the Lagrange-Euler equation considering with the hydrodynamic forces caused by added mass, buoyancy and hydraulic drag. The hydrodynamic drag term in the equation is established as analytical form using Denavit-Hartenberg (D-H) link coordination of manipulator. Two analytical approaches based oil manipulability ellipsoid are presented to visualize the manipulability of robotic arm moving in viscous fluid. The one is scaled ellipsoid which transforms the boundary of joint torque to acceleration boundary of end-effector by normalizing the torques in joint space, while the other is shifted ellipsoid which depicts total acceleration boundary of end-effector by shifting the ellipsoid as much as gravity and velocity dependent forces in work space. An analysis example of 2-link manipulator with proposed analysis scheme is presented to validate the method.

• 드라이브 ㆍ 컨트롤
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• 제6권3호
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• pp.10-17
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• 2009

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2006년도 Proceedings of ISRS 2006 PORSEC Volume I
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• pp.155-155
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• 2006

• 한국암석학회:학술대회논문집
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• 한국암석학회 1999년도 춘계학술대회
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• pp.13-17
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• 1999

• 드라이브 ㆍ 컨트롤
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• 제9권1호
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• pp.56-69
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• 2012

• 드라이브 ㆍ 컨트롤
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• 제1권3호
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• pp.26-31
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• 2004

• 소음진동
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• 제11권3호
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• pp.416-421
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• 2001

The flexural vibration of laminated composite beams with an electro-rheological(ER) fluid has been investigated to design a structure with maximum possible damping capacity. The equations of motion are derived for flexural vibrations of symmetrical, mu1ti-layer laminated beams. The damping radio and modal damping of the first bending mode are calculated by means of iterative complex eigensolution method. Finite element method is used for the analysis of dynamic characteristics of the laminated composite beams with an ER fluid. For the validation of modeling methodology using viscoelastic theory the predicted dynamic properties are compared to the measured ones by author's previous work. They are in good agreement. This paper addresses a design strategy of laminated composite under flexural vibrations with an ER fluid.

• 한국안전학회지
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• 제16권1호
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• pp.25-30
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• 2001

This paper studies the effect of vibration characteristics of tube line conveying fluid with the power steering system of bus. We modelled fluid-filled tube line using I-DEAS software to investigate vibration characteristics of the power steering tube line. And we obtained the natural frequency of tube line through finite element analysis. Analytic solutions were compared with experimental solutions to verify finite element model. We tested the tube line to examine an effect of pressure pulse by vane pump and variation of geometry of tube. From both the experimental results and the modeling results for vibration characteristics of the tube line conveying fluid, we confirmed that vibration characteristics induced by pulse propagated along the power steering tube line and resonance occurred around the natural frequency with pulse excitation.

• 동력기계공학회지
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• 제12권3호
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• pp.12-18
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• 2008

In the present study, the numerical simulation has been performed to investigate K-factor for temperature variation of working fluid in spray nozzle with orifice. The commercial CFD software, Fluent with the proper modeling was applied for analyzing the internal of the spray nozzle. Numerical result for K-factor at $20^{\circ}C$ agrees with the experimental result that it applied n=0.5 within about 7% error. The pressure drop inside nozzle is showed 20% passing swirler, 70% in the region between the outlet of swirler and the orifice and 10% at the outlet of orifice. As the operating pressure is increased, K-factor is decreased by effect of flow resistance at it's inlet before pass swirler. The temperature increase of working fluid reduced the flow rate according to reducing of density, and average 1.23% decrease is showed in the present research.

• Smart Structures and Systems
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• 제6권2호
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• pp.101-113
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• 2010

This paper presents the results of a series of experiments conducted to model a magnetorheological damper operated in shear mode. The prototype MR damper consists of two parallel steel plates; a paddle covered with an MR fluid coated foam is placed between the plates. The force is generated when the paddle is in motion and the MR fluid is reached by the magnetic field of the coil in one end of the device. Two approaches were considered in this experiment: a parametric approach based on the Bingham, Bouc-Wen and Hyperbolic Tangent models and a non parametric approach based on a Neural Network model. The accuracy to reproduce the MR damper behavior is compared as well as some aspects related to performance are discussed.