• 한국소음진동공학회논문집
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• 제14권11호
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• pp.1059-1065
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• 2004

In this paper, the dynamic characteristic analysis of carriage structure supported by air bearings were performed. Toward this end, the characteristics of air bearing were numerically analyzed to estimate the stiffness of the air bearing and the clearance between air bearing and guide surface. The modal analysis of the carriage structure was performed by using finite element method, and the experimental modal analysis was also performed to validate the finite element model, where rigid body modes were compared to validate the stiffness of the air bearings. From the results, the air spring stiffness can be estimated within the range of acceptable accuracy under any pressure and clearance condition.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 춘계학술대회 논문집
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• pp.1085-1090
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• 2007

In recent railway construction, the concrete slab track is getting highlighted as main stream in track type. However, it is the fact that there are different opinions in selection of the optimized spring coefficient of elastic pad. In this study, the performance of vibration reduction in different stiffness of rail pad for ballasted track was compared, and the changes in characteristics, such as static/dynamic deflection of components, vibration acceleration, insertion loss etc., were analysed by using ISI Program for various types of rail fastening system used in concrete slab track. It was concluded that the fastening system with softer pads has shown the better performance of vibration reduction in concrete slab track and the optimized static stiffness has been calculated to 21.1kN/mm for conventional railways, 17.6kN/mm for high-speed railways and 17.8kN/mm for subways.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1997년도 가을 학술발표회 논문집
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• pp.519-526
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• 1997

The purpose of this study is to develop the analytical model for the reinforcement bar connection in group-filled steel pipe sleeve, which consists of beam elements for the reinforcement bar and shell elements for the sleeve and the mortar and spring elements for the bond stress-slip relationship. In the reinforcement bar connection using grout-filled steel pipe sleeve, the major variables are the bond stiffness between reinforcement bar and mortar($K_1$) and between sleeve and mortar($K_2$). It is nearly difficult to predict the exact bond stiffness with the experimental results. Therefore, The linearly elastic analyses using ABAQUS, FEM package show the validity of the mathematical equations for the bond stiffness and the choice of material elements in this paper. To predict the behaviour between yield and ultimate tensile strength, the nonlinear analyses must be performed henceforth.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 춘계학술대회논문집
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• pp.1107-1114
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• 2003

In this thesis, the dynamic characteristic analysis of carriage structure supported by air bearings were peformed. Toward this end, the characteristics of air bearing were numerically analyzed to estimate the stiffness of the air bearing and the clearance between air bearing and guide surface. The modal analysis of the carriage structure was peformed by using finite element method, and the experimental modal analysis was also performed to validate the finite element model, where rigid body modes were compared to validate the stiffness of the air bearings. From the results, the air spring stiffness can be estimated within the range of acceptable accuracy under any pressure and clearance condition.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 추계학술대회 논문집 학회본부
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• pp.308-310
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• 1994

Position control for robot manipulator may not suffice when any contacts are made between the end-effector and various environments. Therefore interaction forces must be controlled in tasks performed by robot manipulator. In general, there are two types of force control for robot manipulator. One is a stiffness control and the other is a hybrid position/force control. Stiffness control is that environment can be modeled as a spring and utilizes the desired normal force to determine the desired normal position. Hybrid position/force control, however, can be used for robot manipulator to track position and force trajectories simultaneously. This paper will compare the result of the hybrid position/force control method with that of the stiffness control method.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1997년도 추계학술대회논문집; 한국과학기술회관; 6 Nov. 1997
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• pp.333-338
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• 1997

A hollow crankshaft is considered as part of an effort to reduce the weight of the automobile powertrain. Since the resulting mass reduction alters both the inertia and stiffness properties of the crankshaft, the vibration characteristics of the hollow crankshaft needs to be investigated in comparison with the original solid crankshaft. The crankshafts are modeled by 38 lumped mass and stiffness elements, in which the dynamic parameters for each lumped element are obtained by the finite element calculation. The fluid-film bearings supporting the crankshaft give rise to linear spring and damping elements that can be derived from the hydrodynamic bearing model. The transfer matrix method is applied to yield the natural frequencies and mode shapes of the crankshaft vibration. The natural frequencies of the hollow crankshaft are founded to be greater than that of the solid crankshaft, and the incorporation of the bearing stiffness tends to accentuate the difference.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.631-637
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• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.

• Smart Structures and Systems
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• 제9권4호
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• pp.373-392
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• 2012

Tracking control of systems with variable stiffness hysteresis using a gain-scheduled (GS) controller is developed in this paper. Variable stiffness hysteretic system is represented as quasi linear parameter dependent system with known bounds on parameters. Assuming that the parameters can be measured or estimated in real-time, a GS controller that ensures the performance and the stability of the closed-loop system over the entire range of parameter variation is designed. The proposed method is implemented on a spring-mass system which consists of a semi-active independently variable stiffness (SAIVS) device that exhibits hysteresis and precisely controllable stiffness change in real-time. The SAIVS system with variable stiffness hysteresis is represented as quasi linear parameter varying (LPV) system with two parameters: linear time-varying stiffness (parameter with slow variation rate) and stiffness of the friction-hysteresis (parameter with high variation rate). The proposed LPV-GS controller can accommodate both slow and fast varying parameter, which was not possible with the controllers proposed in the prior studies. Effectiveness of the proposed controller is demonstrated by comparing the results with a fixed robust $\mathcal{H}_{\infty}$ controller that assumes the parameter variation as an uncertainty. Superior performance of the LPV-GS over the robust $\mathcal{H}_{\infty}$ controller is demonstrated for varying stiffness hysteresis of SAIVS device and for different ranges of tracking displacements. The LPV-GS controller is capable of adapting to any parameter changes whereas the $\mathcal{H}_{\infty}$ controller is effective only when the system parameters are in the vicinity of the nominal plant parameters for which the controller is designed. The robust $\mathcal{H}_{\infty}$ controller becomes unstable under large parameter variations but the LPV-GS will ensure stability and guarantee the desired closed-loop performance.

• Smart Structures and Systems
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• 제31권3호
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• pp.213-227
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• 2023

A passive prismatic-shaped isolation platform (PIP) is proposed to realize enhanced quasi-zero stiffness (QZS) effect. The design concept uses a horizontal spring to produce a tunable negative stiffness and installs oblique springs inside the cells of the prismatic structure to provide a tunable positive stiffness. Therefore, the QZS effect can be achieved by combining the negative stiffness and the positive stiffness. To this aim, firstly, the mathematical modeling and the static analysis are conducted to demonstrate this idea and provide the design basis. Further, with the parametric study and the optimal design of the PIP, the enhanced QZS effect is achieved with widened QZS range and stable property. Moreover, the dynamic analysis is conducted to investigate the vibration isolation performance of the proposed PIP. The analysis results show that the widened QZS property can be achieved with the optimal designed structural parameters, and the proposed PIP has an excellent vibration isolation performance in the ultra-low frequency due to the enlarged QZS range. Compared with the traditional QZS isolator, the PIP shows better performance with a broader isolation frequency range and stable property under the large excitation amplitude.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.800-806
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• 2011

Thermal expansion which occurs at the high speed rail joint is proportional to the free length from the point of fixity. This thermal expansion behaves similar to free expansion because the girder longitudinal stiffness is much larger than longitudinal resistance of rail pads. But the longitudinal displacement in the long rail is nominal because the longitudinal support condition of the girder is normally MFM(movable-fix-movable) system. Due to these girder expansion characteristics, there is longitudinal relative displacement at the rail pad and rail fastener spring which connects rail and girder. If the relative displacement between rail and girder is beyond the elastic limit for the rail pad, rail fastener system shall be applied using sliding fastener to prevent rail pad damage and fastener separation resulting from slip. On the other hand, train vertical vibration and tilting can occur due to the lack of fastener vertical force if the sliding fastener is applied at the girder joint. In the high speed rail bridge, vibration can occur due to the spring stiffness of the elastomeric bearing, also both vertical downward and upward displacement can occur. The elastomeric bearing vertical movement can cause rail displacement and finally the stability of the ballast is reduced because the gravel movement is induced.