• 제어로봇시스템학회논문지
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• 제18권9호
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• pp.823-829
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• 2012

An excitation table is commonly used for vibration and ride tests for parts or assemblies of automobiles, aircrafts, or other heavy systems. The authors have analyzed several kinematic properties of an excitation table that is under development for heavy transport vehicles. It consists of one table and 7 linear hydraulic actuators. The authors have performed mobility analysis, inverse kinematics, forward kinematics, and singularity analysis. Especially, we have proposed a fast forward kinematic solution considering the limited motion of the excitation table. On the assumption that the motion variables such as rotation angles and displacements are small, the forward kinematic problem is converted to the observer problem of a linear system. This provides a fast solution. Also we have verified that there are no singularity points in the working range by numerical analysis.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2000년도 추계학술대회 논문집
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• pp.207-210
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• 2000

Singular points are those at which the determinant of a Jacobian matrix is zero. A parallel manipulator gains mostly an extra DOF at the singular points, where it can not be properly controlled. In this study, singular points of a cubic parallel manipulator are illustrated by obtaining the determinant of a Jacobian matrix mathematically, and the singular points of the manipulator are found to be three separate planes in a 3D space. The dependency among links for each singular point is determined by applying linear algebra. Also, the singular points and workspace of the cubic parallel manipulator are plotted to check if the workspace contain singular points.

• 대한기계학회논문집A
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• 제24권4호
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• pp.982-990
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• 2000

The finite element alternating method is extended further for general three dimensional cracks in an isotropic body subjected to the mode I loading. The required analytical solution for a dime dimensional crack in an infinite isotropic body is obtained by solving the integral equations. In order to remove the high singularity in integration, the technique suggested by Keat et al. was used. With the proposed method several example problems are solved in order to check the accuracy and efficiency of the method.

• Structural Engineering and Mechanics
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• 제26권5호
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• pp.591-615
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• 2007

An improvement is introduced to solve the plane problems of linear elasticity by reciprocal theorem for orthotropic materials. This method gives an integral equation with complex kernels which will be solved numerically. An artificial boundary is defined to eliminate the singularities and also an algorithm is introduced to calculate multi-valued complex functions which belonged to the kernels of the integral equation. The chosen sample problem is a plate, having a circular or elliptical hole, stretched by the forces parallel to one of the principal directions of the material. Results are compatible with the solutions given by Lekhnitskii for an infinite plane. Five different orthotropic materials are considered. Stress distributions have been calculated inside and on the boundary. There is no boundary layer effect. For comparison, some sample problems are also solved by finite element method and to check the accuracy of the presented method, two sample problems are also solved for infinite plate.