• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1928-1933
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• 2005

This Paper is about landing control of legged robot. Body stiffness and damping is used as landing strategy of a legged robot. First, we only used stiffness control method to control legged robot landing. Second control method,sliding mode controller and feedback linearization controller is applied to enhance position control performance. Through these control algorithm, body center of gravity behaves like mass with spring & damping in vertical direction on contact regime.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1995.04a
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• pp.99-106
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• 1995

The seismic responses of a base Isolated Pressurized Water Reactor(PWR) are investigated using a mathematical model which expresses the superstructure as a linear lumped mass-spring and the seismic Isolator as an equivalent spring-damper. Time history analyses are performed for the 1940 El Centre earthquake with linear amplification. In the analysis 5% of structural damping is used for the superstructure. The effects of high damping rubber bearing on seismic response of the superstructure in base isolated system are evaluated for four stiffness model types. The acceleration responses in base isolated PWR superstructure with high damping rubber bearings are much smaller than those in fixed base structure. In the higher strain region where stiffness behaves non-linearly, the acceleration responses modelled by one equivalent stiffness are smaller than those in nonlinear spring model, and the higher stiffness spring model of isolator exhibits larger peak acceleration response at superstructure in the frequency range above 2.0 Hz. when subjected to linearly amplified 1940 El Centre earthquake.

• Journal of KSNVE
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• v.7 no.6
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• pp.1015-1023
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• 1997

Rotordynamic analysis of a multistage turbine pump using finite element method is performed to investigate the effects of seal wear on its system behavior. Stiffness and damping coefficents of the 2-axial grooved bearing are obtained as functions of rotating speed. Stiffness and damping coefficients of plane annuler seals are calculated as functions of rotating speed as well as seal clearance of seals become larger, these stiffness and damping coefficients decrease drastically so that there can be significant changes in whirl natural frequencies and damping characteristics of the pump rotor system. Although a pump is designed to operate with a sufficient seperation margin from the 1st critical speed, seal wear due to long operation may cause a sudden increase in vibration amplitude by resonance shift and reduce seal damping capability.

• 유체기계공업학회:학술대회논문집
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• 1998.02a
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• pp.203-209
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• 1998

Rotordynamic analysis of a multistage turbine pump using finite element method is performed to investigate the effects of seal wear on Its system behavior. Stiffness and damping coefficients of the 2-axial grooved bearing are obtained as functions of rotating speed. Stiffness and damping coefficients of plane annular seals are calculated as functions of rotating speed as well as seal clearance. As the clearance of seals become larger, these stiffness and damping coefficients decrease drastically so that there can be significant changes in whirl natural frequencies and damping characteristics of the pump rotor system. Although a pump is designed to operate with a sufficient seperation margin from the 1st critical speed, seal wear due to long operation may cause a sudden increase in nitration amplitude by resonance shift and reduce seal damping capability.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.06a
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• pp.687-688
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• 2007

• Tribology and Lubricants
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• v.16 no.1
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• pp.27-32
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• 2000

This paper describes that the leaf spring damper (LSD) developed by authors can be controled by side clearance between side covers and leaf springs. The test rig and two prototype dampers with different side clearance were manufactured. Experiments were performed to investigate the effects of side clearance on the damping of the leaf spring damper. The stiffness and damping coefficients are obtained from the displacements and the reaction forces generated by rotating the eccentric shaft. All dynamic coefficients are plotted with the excitation frequency which is adjusted by rotating speed of the shaft.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.224-231
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• 2006

A six-degree-of-freedom dynamic model with time-varying mesh stiffness/damping and friction has been developed for the dynamic analysis of a gear driving system. This model includes a spur gear pair, bearing, friction and prime mover. Using Newton???s method, equations of motion for the gear driving system were derived. Two computer programs are developed to calculate mesh stiffness, transmission error and friction force and analyze the dynamics of the modeled system using a time integration method. The influences of mesh stiffness/damping, bearing, and friction affecting the system were investigated by performing eigenvalue analysis and time response analysis. It is found that the reduction of the maximum peak magnitude by friction is decided according to designing the positions of pitch point and maximum peak in the responses.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.603-607
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• 2008

This paper is to investigate the effects of support conditions on the whirling stability of a supercritical composite driveshaft. Two system parameters are rigorously considered: one is the bending stiffness of the support beam/bearings and the other is the rotating internal damping of the shaft. An analytic model is developed based on finite element methods and an eigenvalue analysis is employed to estimate the shaft stability under supercritical operating conditions. Results show that the internal damping causes the whirling instability at a supercritical speed, as demonstrated in other previous studies. However, the bending stiffness of the support beam is found to affect greatly the stability behaviors of a supercritical shaft and several combinations of the shaft/beam stiffness can be identified to guarantee the stable operation even in a supercritical region.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.14 no.4
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• pp.7-12
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• 2005

This study predicts the modified eigenvectors and eigenvalues of the damped structure due to the change in the mass, damping and stiffness of structure by calculation of the sensitivity coefficient using the original dynamic characteristic. The method is applied to examples of the damped 3 degree of freedom system by modifing the mass, damping and stiffness. The predicted dynamic characteristics are in good agreement with these from the structural reanalysis using the modified mass, damping and stiffness.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.139-145
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• 1996

The machining accuracy and performance is largely influenced by the static, dynamic and thermal characteristics of spindle systems in machine tools, because the spindle system is a intermedium for cutting force from tool and machine powef from motor. Large cutting force and power are transmitted by bearing with a point or line contact. So, the spindle system is the static and dynamic weakest point in machine structure. For improvement of static stiffness of spindle system can be changed design parameters, such as diameter of spindle, stiffness of bearing and bearing span. But for dynamic stiffness, the change of the design parameters are not useful. In this paper, the combined bearing arrangement is suggested for high damping spindle system. The combined bearing arrangement is composed of tandem double back to back arrangement type ball bearins and a high damping hydrostatic bearing. The variation of static deflection and amplitude in first natural frequency is evaluated with the location of hydrostatic bearing between front and rear ball bearing. The optimized location of hydrostatic bearing for high static and dynamic stiffness is determined rapidly and exactly using the mode shape and transfer function of spindle. The calculation of damping effect on vibration by unbalance of grinding wheel and pulley in optimized spindle system is carried out to verify the validity of the combined bearing arrangement. Finally, the simulation of grinding process show that the surface roughness of workpiece with high damping spindle system is 60% better than with ball bearing spindle system.