• Structural Engineering and Mechanics
• /
• v.45 no.4
• /
• pp.423-437
• /
• 2013

Complex structures are usually assembled from several substructures with joints connecting them together. These joints have significant effects on the dynamic behavior of the assembled structure and must be accurately modeled. In structural analysis, these joints are often simplified by assuming ideal boundary conditions. However, the dynamic behavior predicted on the basis of the simplified model may have significant errors. This has prompted the researchers to include the effect of joint stiffness in the structural model and to estimate the stiffness parameters using inverse dynamics. In the present work, structural joints have been modeled as a pair of translational and rotational springs and frequency equation of the overall system has been developed using sub-structure synthesis. It is shown that using first few natural frequencies of the system, one can obtain a set of over-determined system of equations involving the unknown stiffness parameters. Method of multi-linear regression is then applied to obtain the best estimate of the unknown stiffness parameters. The estimation procedure has been developed for a two parameter joint stiffness matrix.

• Structural Engineering and Mechanics
• /
• v.57 no.1
• /
• pp.141-159
• /
• 2016

Bearing joint dynamic parameter identification is crucial in modeling the high speed spindles for machining centers used to predict the stability and natural frequencies of high speed spindles. In this paper, a hybrid method is proposed to identify the dynamic stiffness of bearing joint for the high speed spindles. The hybrid method refers to the analytical approach and experimental method. The support stiffness of spindle shaft can be obtained by adopting receptance coupling substructure analysis method, which consists of series connected bearing and joint stiffness. The bearing stiffness is calculated based on the Hertz contact theory. According to the proposed series stiffness equation, the stiffness of bearing joint can be separated from the composite stiffness. Then, one can obtain the bearing joint stiffness fitting formulas and its variation law under different preload. An experimental set-up with variable preload spindle is developed and the experiment is provided for the validation of presented bearing joint stiffness identification method. The results show that the bearing joint significantly cuts down the support stiffness of the spindles, which can seriously affects the dynamic characteristic of the high speed spindles.

• Structural Engineering and Mechanics
• /
• v.53 no.2
• /
• pp.373-392
• /
• 2015

In the present work, structural joints have been modeled as a pair of translational and rotational springs and frequency equation of the overall system has been developed using sub-structure synthesis. It is shown that using first few natural frequencies of the system, one can obtain a set of over-determined system of equations involving the unknown stiffness parameters. Method of multi-linear regression is then applied to obtain the best estimate of the unknown stiffness parameters. The estimation procedure has been developed first for a two parameter joint model and then for a three parameter model, in which cross coupling terms are also included. Two cases of structural connections have been considered, first with a cantilever beam with support flexibility and then a pair of beams connected through lap joint. The validity of the proposed method is demonstrated through numerical simulation and by experimentation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.4
• /
• pp.406-410
• /
• 2008

This paper presents a new robot calibration algorithm with joint stiffness parameters for the enhanced positioning accuracy of industrial robot manipulators. This work is towards on-going development of an industrial robot calibration software which is able to identify both the kinematic and non-kinematic robot parameters. In this paper, the conventional kinematic calibration and its important considerations are briefly described first. Then, a new robot calibration algorithm which simultaneously identifies both the kinematic and joint stiffness parameters is presented and explained through a computer simulation with a 2 DOF manipulator. Finally, the developed algorithm is implemented to Hyundai HX165 robot and its resulting improvement of the positioning accuracy is addressed.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.1
• /
• pp.53-67
• /
• 1996

The dynamic characteristics of mechanical structure are strongly affected by the properties of joint parameters. In this study, the test structures are constructed with two beams which are clamped by bolts, and a bolted joint which is modelled as a lumped stiffness element. To idientify the dynamic joint parameters with variance of clamping torque of bolts, the sensitivity analysis and the mode energy analysis methods are investigated experimentally. As a reult of these two methods, stiffnesses of bolted joint are experimentally found to increase as the clamping torque increases. These stiffnesses identified from the sensitivity analysis and the mode energy analysis method have some difference.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2007.04a
• /
• pp.757-762
• /
• 2007

The lining segment which is the main structure of the shield tunnel consists of joints, not continua. Past international and domestic design data have been commonly used for design practices without specific verification about the structural analysis model, design load, and affection of the soil constant of the lining segment. In this study, the propriety is estimated through the comparison between analytical solution and numerical solution for segment analysis and design models of the shield tunnel which is being used internationally and domestically. As a result, the full. circumferential beam jointed spring model (1R-S0) is suggested by considering aspects of convenient use, application to field condition, and accuracy of analysis result. With suggested model, the parameter analysis was conducted for joint stiffness, ground rigidity, joint distribution, and joint number.

• Structural Engineering and Mechanics
• /
• v.55 no.4
• /
• pp.801-813
• /
• 2015

Flexural stiffness of bridge spans has become even more important parameter since Eurocode 1 introduced for railway bridges the serviceability limit state of resonance. For simply supported bridge spans it relies, in general, on accurate assessment of span moment of inertia that governs span flexural stiffness. The paper presents three methods of estimation of the equivalent moment of inertia for such spans: experimental, analytical and numerical. Test loading of the twin truss bridge spans and test results are presented. Recorded displacements and the method of least squares are used to find an "experimental" moment of inertia. Then it is computed according to the analytical method that accounts for joint action of truss girders and composite deck as well as limited span shear stiffness provided by diagonal bracing. Finally a 3D model of finite element method is created to assess the moment of inertia. Discussion of results is given. The comparative analysis proves efficiency of the analytical method.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1998.04a
• /
• pp.40-44
• /
• 1998

In this paper, a kinematic and dynamic model for an excavator is presented. A graphic user interface program for kinematic-dynamic analysis for the excavator is developed. To predict the stiffness and damping properties of the joint between the vehicle and the track, a parameter study is executed. Using the predicted joint stiffness and damping, the jerk simulation for the excavator is reproduced. Simulation results are compared with the test results to confirm the validity of the simulation model.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 1994.10a
• /
• pp.244-249
• /
• 1994

The dynamic characteristics of mechanical structure are strongly affected by the properties of joint parameters. In this study, the test structures are constructed with two beam structures which are clamped by bolts, and a bolted joint which is modelled as a lumped stiffness element. To identify the dynamic joint parameters with variance of clamping torque of bolts, the sensitivity analysis and the mode energy analysis methods are investigated experimentally. As a result of these two methods, stiffnesses of bolted joint are experimentally found to increase as the clamping torque increases. These stiffnesses identified from the sensitivity analysis and the mode energy analysis method have some difference.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2005.05a
• /
• pp.447-450
• /
• 2005

A prefabricated composite hollow slab with perforated I-beams was suggested for the replacement of deteriorated concrete decks or the construction of new composite bridges with long-span slabs. Composite slabs with embedded I-beams have considerably higher stiffness and strength. For the application of prefabricated composite slabs to bridges, joints between slabs should satisfy the requirements of the ultimate limit state and the serviceability limit state. In this paper, three types of the detail for loop joints were selected and their structural performance in terms of strength and crack control was investigated through static tests on continuous composite slabs. A main parameter was the detail of the joint, such as an ordinary loop joint and loop joint with additional reinforcements. Even though there was no connection of the steel beams at the joints, the loop joints showed good performance in terms of strength. In terms of crack control, the loop joint with additional reinforcements showed better performance. In ultimate limit state, the continuous composite slabs showed good moment redistribution and ductility.