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회전원판과 스프링-댐퍼를 가진 질점계의 상호작용에 의한 불안정성
김창부,한덕호,Kim, C.B,Han, D.H 대한기계학회 1997 大韓機械學會論文集A Vol.21 No.12
In this paper the instability of the system which has a disk and a mass-spring-damper system interacting through a medium having stiffness and damping is analyzed. To solve the equations of motion of this systme, it is assumed that the solution consists of the eigenfunctions which are the products of the Bessel functions and sine or cosine functions. The former represents the radial characteristics of the disk and the latter represents the circumferential characteristics. Using this assumed solution and the orthogonality of the eigenfunctions, the equations of motion can be transformed into a set of equations of motion with variables dependent only on the time. After this set is changed to the state equation, the eigenvalue problem can be made. Once the eigenvalues are calculated according to the angular velocity of the disk, the dynamic characteristics ofthis system is obtained. Because the thickness of the disk and the element characteristics of the mass-spring-damper system have important effects on the stability of the system, it will be understood how these factors affect the system and then a method to ameliorate the stability of the system with a disk will be presented.
김창부,김효식,Kim, Chang-Bu,Kim, Hyo-Sik 대한기계학회 1996 大韓機械學會論文集A Vol.20 No.11
In this paper, we derive an algorithm and develope a computer program which analyze rapidly and precisely the inverse kinematics of robotic mechanism with spatial complex chain structure based on the relative coordinates. We represent the inverse kinematic problem as an optimization problem with the kinematic constraint equations. The inverse kinematic analysis algorithm, therefore, consists of two algorithms, the main, an optimization algorithm finding the motion of independent joints from that of an end-effector and the sub, a forward kinematic analysis algorithm computing the motion of dependent joints. We accomplish simulations for the investigation upon the accuracy and efficiency of the algorithm.
환상 민들린 평판의 축대칭 면외 진동에서의 비틀림 진동
김창부(Chang-Boo Kim),임정기(Jung-Ki Lim) 한국철도학회 2010 한국철도학회 학술발표대회논문집 Vol.2010 No.7
This presentation examines the characteristics of torsional vibration in axisymmetric out-of-plane vibrations of an annular Mindin plate. The out-of-plane vibration of circular or annular plates have been investigated since a long years ago by many researchers. When the classical Kirchhoff plate theory neglecting the effect of transverse shear deformation is applied to a thick plate, its out-of-plane natural frequencies are much different from reality. And so, since Minlin presented a plate theory considering the effect of rotary inertia and transverse shear deformation, many researches for the out-of-plane natural vibration of circular or annular Mindin plates have been performed. But almost all researchers missed the torsional vibration due to transverse shear deformation in axisymmetric out-of-plane vibrations of the circular or annular Mindin plate. Therefore, in this presentation, we verify the existence of torsional vibration of an annular plate and present the natural frequencies of an annular plate with free outer boundary surface.
김창부(Kim Chang-Boo),김보연(Kim Bo Yeon) 한국철도학회 2007 한국철도학회 학술발표대회논문집 Vol.- No.-
In this paper, the equations of motion by which the natural vibration of rotating thick ring can be analyzed accurately are presented. These equations are derived from the theory of finite deformation and the principle of virtual work. The effects of variation in curvature across the ring cross-section can be considered in these equations. The ring models are called as thick ring model and thin ring model respectively as the effects of variation in curvature are considered or neglected. The radial displacement of ring which is rotating at constant angular velocity is determined by a non-linear equation derived from the principle of virtual work. The equations of the in-plane and out-of-plane vibrations at disturbed state are also formulated from the principle of virtual work. They can be expressed as the combination of the radial displacement at the steady state and the disturbed displacements about the steady state. The natural vibrations of rings with different thickness are analyzed by using the presented ring models and 3-dimensional finite element method to verify accuracy of the presented equations of motion. Its results are compared and discussed.
김창부(Chang-Boo Kim),이승훈(Seung-Hoon Lee) 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
In this paper, we propose an optimal method for the tracking a trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint equations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation of flexible plannar manipulator is presented.