• Structural Engineering and Mechanics
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• 제62권5호
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• Structural Engineering and Mechanics
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• 제66권5호
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• pp.637-648
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• 2018

When the centers of mass and stiffness of a building do not coincide, the structure experiences torsional responses. Such systems can consist of the underlying soil and the super-structure. The underlying soil may modify the earthquake input motion and change structural responses. Specific effects of the input motion shall also not be ignored. In this study, seismic demands of asymmetric buildings considering soil-structure interaction (SSI) under near-fault ground motions are evaluated. The building is modeled as an idealized single-story structure. The soil beneath the building is modeled by non-linear finite elements in the two states of loose and dense sands both compared with the fixed-base state. The infinite boundary conditions are modelled using viscous boundary elements. The effects of traditional and yield displacement-based (YDB) approaches of strength and stiffness distributions are considered on seismic demands. In the YDB approach, the stiffness considered in seismic design depends on the strength. The results show that the decrease in the base shear considering soft soil induced SSI when the YDB approach is assumed results only in the center of rigidity to control torsional responses. However, for fixed-base structures and those on dense soils both centers of strength and rigidity are controlling.

• Structural Engineering and Mechanics
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• 제32권3호
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• pp.447-457
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• 2009

A general analytical method for computing the joint stiffness from the sectional properties of the members that form the joint is derived using Vlasov's thin-walled beam theory. The analytical model of box T-joint under out-of-plane loading is investigated and validated using shell finite element results and experimental data. The analytical model of the T-joint is implemented in a beam finite element model using a revolute joint element. The out-of-plane displacement computed using the beam-joint model is compared with the corresponding shell element model. The results show close correlation between the beam revolute joint model and shell element model.

• 대한치과의사협회지
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• 제57권11호
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• pp.672-678
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• 2019

AIM: The purpose of this study was to evaluate and compare the torsional fracture resistances, cyclic fatigue resistance, and bending stiffness of two nickel-titanium (NiTi) rotary instruments made of different heat-treated alloy: Aurum Blue (heat-treated) and Aurum Pro (conventional). Methods: Forty-five Aurum Blue and Aurum Pro NiTi files were selected for the three mechanical tests (n=15). For the torsional resistance test, 3 mm file tip was fixed and the shaft was driven clockwise at 2 rpm until fracture occurred by using a customized device. Cyclic fatigue resistance was evaluated by rotating instruments in artificial canal with dynamic mode. Bending stiffness was tested by observation of the bending moment on attaining a 45° bend. The results were analyzed by student-t tests at a significance level of 95%. The fractured surface of each groups were examined under a scanning electron microscope (SEM). Results: Aurum Blue showed significantly higher toughness, ultimate strength, distortion angle, and number of cycles to failure than those of Aurum Pro (p < 0.05). However, Aurum Blue and Aurum Pro did not differ significantly in terms of bending stiffness. SEM showed typical topographic appearances of the cyclic fatigue and torsional fracture. Conclusions: Under the limitations of this study, heat-treated instruments showed higher flexibility and fracture resistances than conventional NiTi instruments.

• 한국소음진동공학회논문집
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• 제15권7호
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• pp.799-805
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• 2005

This paper describes the development process of high stiffness body for ride and handling performance. High stiffness and light weight vehicle is a major target in the refinement of Passenger cars to meet customers' contradictable requirements between ride and handling performance and fuel economy This paper describes the analysis approach process for high stiffness body through the data level of body stiffness. According to the frequency band. we can suggest the design guideline about lg cornering static stiffness, torsional and lateral stiffness, body attachment stiffness. The ride and handling characteristic of a vehicle Is significantly affected by vibration transferred to the body through the chassis mounting points from front and rear suspension. It is known that body attachment stiffness is an important factor of ride and handling performance improvement. And high stiffness helps to improve the flexibility of bushing rate tuning between handling and road noise. It makes possible to design the good handling performance vehicle and save vehicles to be used in tests by using mother car at initial design stage. These improvements can lead to shortening the time needed to develop better vehicles.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.358-361
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• 2004

This paper describes the development process of high stiffness body for ride and handling performance. High stiffness and light weight vehicle is a major target in the refinement of passenger cars to meet customers' contradictable requirements between ride and handling performance and fuel economy. This paper describes the analysis approach process for high stiffness body through the data level of body stiffness. According to the frequency band, we can suggest the design guideline about Is cornering static stiffness, torsional and lateral stiffness, body attachment stiffness. The ride and handling characteristic of a vehicle is significantly affected by vibration transferred to the body through the chassis mounting points from front and rear suspension. It is known that body attachment stiffness is an important factor of ride and handling performance improvement. And high stiffness helps to improve the flexibility of bushing rate tuning between Handling and road noise. It makes it possible to design the good handling performance vehicle at initial design stage and save vehicles to be used in tests by using mother car at initial design stage. These improvements can lead to shortening the time needed to develop better vehicles.

• Restorative Dentistry and Endodontics
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• 제33권4호
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• pp.323-331
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• 2008

이 연구의 목적은 세가지 니켈-티타늄 파일의 휨과 회전 조건 하에서의 응력 분포를 유한요소 모형을 이용하여 비교하는 것이다. ProFile .06/#30, ProTaper와 ProTaper Universal의 F3파일을 마이크로컴퓨터 단층촬영을 하고 reverse engineering을 통하여 세 니켈 티타늄 파일의 구조를 얻고 삼차원 유한요소모형을 제작하였다. 니켈 티타늄 합금의 비선형적인 물리적 성질을 반영하고 ABAQUS 프로그램을 이용하여 휨과 회전 조건 하에서의 기계적인 움직임을 수학적으로 예측 분석하였다. U-형태의 단면 구조를 가진 ProFile이 모형 가운데 가장 좋은 휨 성질을 나타냈다. 동일한 휨량 조건에서는 볼록한 삼각형 단면의 ProTaper가 다른 모형보다 많은 힘을 필요로 하였으며, 반면에 가장 높은 von Mises 응력은 ProTaper Universal의 단면에서 움푹 파인 부위에 집중되었다. ProFile 모형은 동일한 크기의 회전력 에 대해 가장 큰 응력 집중을 U-형 구 부위에 나타냈다. ProTaper 모형은 다른 모형에 비해 동일량을 비틀기 위해 더 많은 힘을 필요로 하였으며, 반면에, 동량의 비틀림에서는 가장 높은 von Mises 응력이 ProTaper Universal의 단면에서 움푹 파인 부위에 집중되었다.

• 한국공작기계학회논문집
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• 제12권4호
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• pp.57-62
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• 2003

A fundamental structural design consideration for a vehicle system is the overall vibration characteristics in bending and torsion. Vibration characteristics of such vehicle system are mainly influenced by the static and dynamic stiffness of the vehicle body structure and also by the material and physical properties of the components attached to the vehicle body structure. In this paper, modeling techniques for the vehicle components are presented and the flexibility and mass effects of the components for the vibration characteristics of the vehicle are investigated. The $1^{st}$ torsional frequency is increased by attaching windshields to the B.I.W. (body-in-white), but the $1^{st}$ bending frequency is decreased by the mass effect. And also, the natural frequencies of the vehicle are large decreased by attaching bumpers, seats, doors, trunk-lid etc. But, suspension system rarely affects the natural frequencies of the vehicle. The study shows thai the dynamic characteristics of the vehicle system can be effectively predicted in the initial design stage.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.123-126
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• 2003

This paper presents an speed reference trajectory planning methods for vibration suppression in a t-mass resonant system which has a flexible coupling between a load and a driving motor. Due to this flexibility, the system often suffers vibration especially when the motor is controlled for higher speed command. The steady state conditions are utilized to derive desired load speed trajectory which does not cause the torsional vibration. And the desired motor speed trajectory is synthesized base on the relation between load and motor speed. The simulation and experiment result suggest that the proposed method effectively suppress the vibration.

• Journal of Advanced Marine Engineering and Technology
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• 제30권3호
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• pp.359-368
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• 2006

The trend on marine diesel engine productions and refinements has led to a higher mean effective pressure and thermal efficiency. These resulted in increased maximum combustion pressure within the cylinder and vibratory torque in crankshaft. In view of this. the crankshaft should be able to withstand the dynamic stresses caused by load variations. Different factors including size, material and stress concentration factors should also be considered to ensure the reliability of the shafting system. As such, crankshaft must be designed and compacted within its fatigue strength. In this paper, the strength analysis of crankshaft Is carried out by: simplified method recommended by IACS(International Association Classification Societies) M53 and a detailed method with the crankshaft assumed as a continuous beam and bearing supported in its flexibility. The results of these two methods are then compared.