• Steel and Composite Structures
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• 제9권5호
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• pp.473-497
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• 2009

For the spatially coupled free vibration analysis of composite box beams resting on elastic foundation under the axial force, the exact solutions are presented by using the power series method based on the homogeneous form of simultaneous ordinary differential equations. The general vibrational theory for the composite box beam with arbitrary lamination is developed by introducing Vlasov°Øs assumption. Next, the equations of motion and force-displacement relationships are derived from the energy principle and explicit expressions for displacement parameters are presented based on power series expansions of displacement components. Finally, the dynamic stiffness matrix is calculated using force-displacement relationships. In addition, the finite element model based on the classical Hermitian interpolation polynomial is presented. To show the performances of the proposed dynamic stiffness matrix of composite box beam, the numerical solutions are presented and compared with the finite element solutions using the Hermitian beam elements and the results from other researchers. Particularly, the effects of the fiber orientation, the axial force, the elastic foundation, and the boundary condition on the vibrational behavior of composite box beam are investigated parametrically. Also the emphasis is given in showing the phenomenon of vibration mode change.

• 제어로봇시스템학회논문지
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• 제10권4호
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• pp.350-356
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• 2004

This paper presents a farce manipulability analysis of multi-legged walking robots, which calculates force or acceleration workspace attainable from joint torque limits of each leg. Based on the observation that the kinematic structure of the multi-legged walking robots is basically the same as that of multiple cooperating robots, we derive the proposed method of analyzing the force manipulability of walking robot. The force acting on the object in multiple cooperating robot systems is taken as reaction force from ground to each robot foot in multi-legged walking robots, which is converted to the force of the body of walking robot by the nature of the reaction force. Note that each joint torque in multiple cooperating robot systems is transformed to the workspace of force or acceleration of the object manipulated by the robots in task space through the Jacobian matrix and grasp matrix. Assuming the torque limits are given in infinite norm-sense, the resultant dynamic manipulability is derived as a polytope. The validity of proposed method is verified by several examples, and the proposed method is believed to be useful for the optimal posture planning and gait planning of walking robots.

• Structural Engineering and Mechanics
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• 제66권1호
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• pp.125-138
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• 2018

This paper proposes a transfer matrix method for the bending vibration of two types of tapered beams subjected to axial force, and it is applied to analyze tapered beams with an edge or multiple edge open cracks. One beam type is assumed to be reduced linearly in the cross-section height along the beam length. The other type is a tapered beam in which the cross-section height and width with the same taper ratio is linearly reduced simultaneously. Each crack is modeled as two sub-elements connected by a rotational spring, and the method can evaluate the effect of cracking on the desired number of eigenfrequencies using a minimum number of subdivisions. Among the power series available for the solutions, the roots of the differential equation are computed using the Frobenius method. The computed results confirm the accuracy of the method and are compared with previously reported results. The effectiveness of the proposed methods is demonstrated by examining specific examples, and the effects of cracking and axial loading are carefully examined by a comparison of the single and double tapered beam results.

• 조명전기설비학회논문지
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• 제23권1호
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• pp.85-91
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• 2009

본 논문에서는 배전계통에 사용되는 케이블 권선형 변압기에 전력계통에서 발생되는 서지나 고장전류에 의해서 변압기의 고압측 코일에 유도되는 전자력의 크기를 유한요소 전자계해석 프로그램(FLUX2D)을 이용하여 해석하고, 기계진동방정식을 이용하여 케이블형 권선의 고유진동주파수를 분석하였다. 변압기모델로서 1(MVA), 22,900/220([V]) 단상 외철형 Cable형을 선정하여, 권선의 각방향의 전자력을 분석하고, 고유진동 mode를 Transfer Matrix Method를 이용하여 계산하고 상용 프로그램(ANSYS)을 이용하여 분석한 결과와 비교하였다. 진동모드의 분석한 결과 제시한 수치해석 방법은 공학적인 오차범위 안에서 충분히 수용할 정도의 정확도를 보여주었다. 변압기 권선의 전자력과 진동모드 분석결과는 변압기의 절연설계 및 단락기계력에 의한 절연 구조 설계를 위한 유용한 자료로 활용될 수 있다.

• Structural Engineering and Mechanics
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• 제70권2호
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• pp.199-207
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• 2019

In this paper, a semi-analytical method will be discussed for free vibration analysis of rotating beams with variable cross sectional area. For this purpose, the rotating beam is discretized through applying the transfer matrix method and assumed the axial force is constant for each element. Then, the transfer matrix is derived based on Euler-Bernoulli's beam differential equation and applying boundary conditions. In the following, the frequencies of the rotating beam with constant and variable cross sections are determined using the transfer matrix method in several case studies. In order to eliminate numerical difficulties in the transfer matrix method, the Riccati transfer matrix is employed for high rotation speed and high modes. The results are compared with the results of the finite elements method and Rayleigh-Ritz method which show good agreement in spite of low computational cost.

• Journal of Mechanical Science and Technology
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• 제16권8호
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• pp.1072-1078
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• 2002

The constrained motion requires the determination of constraint force acting on unconstrained systems for satisfying given constraints. Most of the methods to decide the force depend on numerical approaches such that the Lagrange multiplier method, and the other methods need vector analysis or complicated intermediate process. In 1992, Udwadia and Kalaba presented the generalized inverse method to describe the constrained motion as well as to calculate the constraint force. The generalized inverse method has the advantages which do not require any linearization process for the control of nonlinear systems and can explicitly describe the motion of holonomically and/or nongolonomically constrained systems. In this paper, an explicit equation to describe the constrained motion is derived by minimizing the performance index, which is a function of constraint force vector, with respect to the constraint force. At this time, it is shown that the positive-definite weighting matrix in the performance index must be the inverse of mass matrix on the basis of the Gauss's principle and the derived differential equation coincides with the generalized inverse method. The effectiveness of this method is illustrated by means of two numerical applications.

• Structural Engineering and Mechanics
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• 제34권6호
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• pp.739-753
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• 2010

Pointing to the design requirement of prestressed space grid structure being the target cable force, the pretension scheme decision analysis method is studied when there's great difference between structural actual state and the analytical model. Based on recursive formulation of cable forces, the simulative recursive system for pretension process is established from the systematic viewpoint, including four kinds of parameters, i.e., system initial value (structural initial state), system input value (tensioning control force scheme), system state parameters (influence matrix of cable forces), system output value (pretension accomplishment). The system controllability depends on the system state parameters. Based on cable force observation values, the influence matrix for system state parameters can be calculated, making the system controllable. Next, the pretension scheme decision method based on cable force observation values can be formed on the basis of iterative calculation for recursive system. In this way, the tensioning control force scheme that can meet the design requirement when next cyclic supplemental tension finished is obtained. Engineering example analysis results show that the proposed method in this paper can reduce a lot of cyclic tensioning work and meanwhile the design requirement can be met.

• 한국산업융합학회 논문집
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• 제21권2호
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• pp.63-70
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• 2018

In this paper, the design of a novel 6-axis compliance device with force/torque sensing capability and the experiment results on force measurement are presented. Unlike the traditional control methods using a force/torque sensor with very limited compliance, the force control method employs a compliant device to provide sufficient compliance between an industrial robot and a rigid environment for more stable force control. The proposed compliance device is designed to have a diagonal stiffness matrix at the tip and uses strain gauge measurement which is robust to dust and oil. The measurement circuit is designed with low-cost IC chips however the force resolution is 0.04N.

• Structural Engineering and Mechanics
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• 제11권4호
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• pp.423-442
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• 2001

This paper presents a method of elastic-plastic analysis for planar steel frames that provides the accuracy of distributed plasticity methods with the computational efficiency that is greater than that of distributed plasticity methods but less than that of plastic-hinge based methods. This method accounts for the effect of spread of plasticity accurately without discretization through the cross-section of a beam-column element, which is achieved by the following procedures. First, nonlinear equations describing the relationships between generalized stresses and strains of the cross-section are derived analytically. Next, nonlinear force-deformation relationships for the beam-column element are obtained through lengthwise integration of the generalized strains. Elastic-plastic flexibility coefficients are then calculated by differentiating the above element force-deformation relationships. Finally, an elastic-plastic stiffness matrix is obtained by making use of the flexibility-stiffness transformation. Adding the conventional geometric stiffness matrix to the elastic-plastic stiffness matrix results in the tangent stiffness matrix, which can readily be used to evaluate the load carrying capacity of steel frames following standard nonlinear analysis procedures. The accuracy of the proposed method is verified by several examples that are sensitive to the effect of spread of plasticity.

• Structural Engineering and Mechanics
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• 제40권1호
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• pp.121-148
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• 2011

Closed form solutions for equilibrium and flexibility matrices of the Mindlin-Reissner theory based eight-node rectangular plate bending element (MRP8) using Integrated Force Method (IFM) are presented in this paper. Though these closed form solutions of equilibrium and flexibility matrices are applicable to plate bending problems with square/rectangular boundaries, they reduce the computational time significantly and give more exact solutions. Presented closed form solutions are validated by solving large number of standard square/rectangular plate bending benchmark problems for deflections and moments and the results are compared with those of similar displacement-based eight-node quadrilateral plate bending elements available in the literature. The results are also compared with the exact solutions.