• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.6
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• pp.1014-1019
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• 2003

A dynamic modeling method for beams undergoing overall rigid body motion is presented in this paper. Two special deformation variables are introduced to represent the stretching and the curvature and are approximated by the assumed mode method. Geometric constraint equations that relate the two special deformation variables and the cartesian deformation variables are incorporated into the modeling method. By using the special deformation variables, all natural as well as geometric boundary conditions can be satisfied. It is shown that the geometric nonlinear effects of stretching and curvature play important roles to accurately predict the dynamic response when overall rigid body motion is involved.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.16 no.3 s.108
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• pp.226-232
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• 2006

This paper presents the dynamic analysis of an impulsively forced rotating cantilever beam with rigid body motion. The transient response induced by the impulsive force and the rigid body motion of the beam are calculated using hybrid deformation variable modeling with the Rayleigh-Ritz assumed mode methods. The stiffness variation effect due to the rigid body motion of the beam is considered in this study Also, the effects of the impulsive force position and the angular velocity on the transient responses of the beam are investigated through numerical works.

• Structural Engineering and Mechanics
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• v.22 no.3
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• pp.293-310
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• 2006

In seismic prone areas it is possible to meet very different objects (equipment components, on shelf artefacts, simple architectural elements) that can be modelled as a rigid body rocking on a rigid foundation. The interest in their behaviour can have different reasons: seismological, in order to estimate the ground motion intensity, or more strictly mechanical, in order to limit the response severity and to avoid overturning. The behaviour of many rigid bodies subjected to twenty wide ranging acceleration recordings is studied here. The response of the blocks is described using kinematic and energy parameters. A condition under which a so called scale effect is tangible is highlighted. The capacity of the signals to produce overturning is compared to different ground motion parameters, and a good correlation with the Peak Ground Velocity is unveiled.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.533-538
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• 1991

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link representation to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M. to model complex shaped links systematically and by eliminating elastic mode of higher order that does not largely affect motion to reduce the number of elastic degree of freedom. Finally, presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control,

• Bulletin of the Korean Chemical Society
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• v.19 no.4
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• pp.422-428
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• 1998

In the present paper, we report a molecular dynamics (MD) simulation of non-rigid zeolite-A framework only as the base case for a consistent study of the role of intraframework interaction on several zeolite-A systems using the same technique in our previous studies of rigid zeolite-A frameworks. Usual bond stretching, bond angle bending, torsional rotational, and non-bonded Lennard-Jones and electrostatic interactions are considered as intraframework interaction potentials. The comparison of experimental and calculated structural parameters confirms the validity of our MD simulation for zeolite-A framework. The radial distribution functions of non-rigid zeolite-A framework atoms characterize the vibrational motion of the framework atoms. Mean square displacements are all periodic with a short period of 0.08 ps and a slow change in the amplitude of the vibration with a long period of 0.53 ps. The displacement auto-correlation (DAC) and neighbor-correlation (DNC) functions describe the up-and-down motion of the framework atoms from the center of α-cage and the back-and-forth motion on each ring window from the center of each window. The DAC and DNC functions of the framework atoms from the center of α-cage at the 8-ring windows have the same period of the up-and-down motion, but those functions from the center of 8-ring window at the 8-ring windows are of different periods of the back-and-forth motion.

• Advances in aircraft and spacecraft science
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• v.10 no.5
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• pp.419-437
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• 2023

This paper presents the study of the effects of rigid-body motion simultaneously with the presence of the effects of temporal variation due to the existence of morphing speed on the aeroelastic stability of the two-stage telescopic wings, and hence this is the main novelty of this study. To this aim, Euler-Bernoulli beam theory is used to model the bending-torsional dynamics of the wing. The aerodynamic loads on the wing in an incompressible flow regime are determined by using Peters' unsteady aerodynamic model. The governing aeroelastic equations are discretized employing a finite element method based on the beam-rod model. The effects of rigid-body motion on the length-based stability of the wing are determined by checking the eigenvalues of system. The obtained results are compared with those available in the literature, and a good agreement is observed. Furthermore, the effects of different parameters of rigid-body such as the mass, radius of gyration, fuselage center of gravity distance from wing elastic axis on the aeroelastic stability are discussed. It is found that some parameters can cause unpredictable changes in the critical length and frequency. Also, paying attention to the fuselage parameters and how they affect stability is very important and will play a significant role in the design.

• International Journal of Naval Architecture and Ocean Engineering
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• v.8 no.4
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• pp.320-329
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• 2016

An implicit method of solving the six degree-of-freedom rigid body motion equations based on the second order Adams-Bashforth-Moulten method was utilised as an improvement over the leapfrog scheme by making modifications to the rigid body motion solver libraries directly. The implementation will depend on predictor-corrector steps still residing within the hybrid Pressure Implicit with Splitting of Operators - Semi-Implicit Method for Pressure Linked Equations (PIMPLE) outer corrector loops to ensure strong coupling between fluid and motion. Aitken's under-relaxation is also introduced in this study to optimise the convergence rate and stability of the coupled solver. The resulting coupled solver ran on a free floating object tutorial test case when converged matches the original solver. It further allows a varying 70%-80% reduction in simulation times compared using a fixed under-relaxation to achieve the required stability.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.822-826
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• 2008

A linkage mechanism is a device to convert an input motion into a desired output motion. Traditional linkage mechanism designs are based on trial and error approaches so that size or shape changes of an original mechanism often result in improper results. In order to resolve these problems, an improved automatic mechanism synthesis method that determines the linkage type and dimensions by using an optimization method during the synthesis process has been proposed. For the synthesis, a planar linkage is modeled as a set of rigid blocks connected by zero-length translational springs with variable stiffness. In this study, the sizes of rigid blocks were also treated as design variables for more general linkage synthesis. The values of spring stiffness and the size of rigid block yielding a desired output motion at the end-effecter are found by using an optimization method.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.47-51
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• 2005

Using satellite images, an optimal solution to water motion has been presented in this study. Since temperature patterns are suitable tracers in water motion, Sea Surface Temperature (SST) images of Caspian Sea taken by MODIS sensor on board Terra satellite have been used in this study. Two daily SST images with 24 hours time interval are used as input data. Computation of templates correspondence between pairs of images is crucial within motion algorithms using non-rigid body objects. Image matching methods have been applied to estimate water body motion within the two SST images. The least squares matching technique, as a flexible technique for most data matching problems, offers an optimal spatial solution for the motion estimation. The algorithm allows for simultaneous local radiometric correction and local geometrical image orientation estimation. Actually, the correspondence between the two image templates is modeled both geometrically and radiometrically. Geometric component of the model includes six geometric transformation parameters and radiometric component of the model includes two radiometric transformation parameters. Using the algorithm, the parameters are automatically corrected, optimized and assessed iteratively by the least squares algorithm. The method used in this study, has presented more efficient and robust solution compared to the traditional motion estimation schemes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.233-238
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• 2001

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link represented to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M to model complex shaped links systematically and by eleminating elastic mode of higher order that does not largely affect option to reduce the number of elastic degree of freedom. Finally presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control.