• Tribology and Lubricants
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• v.14 no.3
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• pp.94-99
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• 1998

Generally not only the radial load but also the moment may be applied to the ball bearings for a shaft system. However it has been difficult to determine the static equivalent load because there is the radial static equivalent equation only for the axial and radial force on the bearings. In this paper, the same static equivalent radial load which makes the maximum contact force at the interface between the ball and groove as the applied radial force and moment generate is calculated under the condition that the radial force and the moment are applied to the bearings simultaneously. The relation between the static equivalent load and applied force is studied. Therefore the simple and effective equation for the static equivalent radial load of the radial load and moment is proposed for the deep groove ball bearings.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.11 no.7
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• pp.275-286
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• 2001

The research presents an analytical theory to calculate the characteristics of the bal bearing with waviness in its rolling elements considering the centrifugal force and gyroscopic moment of bal. The effects of centrifugal force and gyroscopic moment are introduced to the kinematic constraints and force equilibrium equations. and the waviness of rolling elements is modeled by sinusoidal function to calculate the contact force at each ball. The numerical solutions of governing equation of berating due to waviness are calculated by using the Newton-Raphson method. The accuracy of the research is validated by comparing the contact force. contact angle in case of considering the centrifugal force and gyroscopic moment of bal and the contact force and vibration frequencies in cases of considering waviness with the prior researches respectively. It investigates the stiffness, contact force. displacement and vibration frequencies of the ball bearing considering not only the centrifugal force and gyroscopic moment of ball but also the waviness of the rolling elements.

• Journal of Advanced Marine Engineering and Technology
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• v.2 no.1
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• pp.3-14
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• 1978

The authors have developed a calculating method of propeller shaft alignment by the finite element method. The propeller shaft is divided into finite elements which can be treated as uniform section bars. For each element, the nodal point equation is derived from the stiffness matrix, the external force vector and the section force vector. Then the overall nodal point equation is derived from the element nodal point equation. The deflection, offset, bending moment and shearing force of each nodal point are calculated from the overall nodal point equation by the digital computer. Reactions and deflections of supporting points of straight shaft are calculated and also the reaction influence number is derived. With the reaction influence number the optimum alignment condition that satisfies all conditions is calculated by the simplex method of linear programming. All results of calculation are compared with those of Det norske Veritas, which has developed a computor program based on the three-moment theorem of the strength of materials. The authors finite element method has shown good results and will be used effectively to design the propeller shaft alignment.

• Structural Engineering and Mechanics
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• v.14 no.2
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• pp.151-170
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• 2002

Moving force identification is a very important inverse problem in structural dynamics. Most of the identification methods are eventually converted to a linear algebraic equation set. Different ways to solve the equation set may lead to solutions with completely different levels of accuracy. Based on the measured bending moment responses of the bridge made in laboratory, this paper presented the time domain method (TDM) and frequency-time domain method (FTDM) for identifying the two moving wheel loads of a vehicle moving across a bridge. Directly calculating pseudo-inverse (PI) matrix and using the singular value decomposition (SVD) technique are adopted as means for solving the over-determined system equation in the TDM and FTDM. The effects of bridge and vehicle parameters on the TDM and FTDM are also investigated. Assessment results show that the SVD technique can effectively improve identification accuracy when using the TDM and FTDM, particularly in the case of the FTDM. This improved accuracy makes the TDM and FTDM more feasible and acceptable as methods for moving force identification.

• Transactions of the Korean Society of Automotive Engineers
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• v.8 no.1
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• pp.157-162
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• 2000

The ball bearings are the widely-used machine elements in many machineries. They support not only the radial and the axial force but also the moment in many cases. To simply determine the limit load which can be maintained on an ball bearing or survived in wanted life, the combined the radial and axial force with the moment is converted to the equivalent radial or axial load. However, it is not easy to calculate the equivalent load on the ball bearings. So the simplified equations to evaluate the dynamic and static equivalent load considering the axial force and moment are proposed in this analysis. And the modified equation for the static equivalent radial load with the moment and the axial load is proposed. It is desired that these equations are effectively refered in designing the machineries where the ball bearings are installed.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.4
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• pp.109-121
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• 1996

This paper presents how the input forces along the prismatic joints of a parallel manipulator are transmitted to the upper platform. In order to consider force transmission and moment transmission seperately the Jacobian matrix for parallel manipulators is splitted into two parts. Magnitudes of input forces on the six actuators at a given manipulator configuration which generate maximum/minimum output force with no moment generated on the platform are obtained through the singular value decomposition of a matrix involving the Jacobian. Similarly the directions of the input forces to obtain only the rotation of the platform have been analyzed. Using the singular values a simple equation for the volume of ellipsoid which is a good tool for manipulability measure is provided. Obtained results could be useful in determinimg design parameters like radius of plaform, angles between joints, etc. Simulations are porvided.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.2 s.95
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• pp.194-200
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• 1999

An elastomeric bushing is a device used in automotive suspension systems to cushion the force transmitted from the wheel to the frame of the vehicle. A bushing is an elastomeric hollow cylinder which is bonded to a solid metal shaft at its inner surface and a metal sleeve at its outer surface. For axial motion case, the relation between the force applied to the shaft and their relative displacement was considered. In this paper, the relation between the moment applied to the shaft and their relative deformation(angle of rotation) is considered for the torsional motion case. Numerical solutions of the boundary value problem represent the exact bushing response for use in the method for determining the moment relaxation function of the bushing. Solutions also allow for comparison between the exact moment-deformation behavior and that predicted the proposed model. It is shown that the predictions of the proposed moment-deformation relation are in very good agreement with the exact results.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.959-964
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• 1992

This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking prameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.283-286
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• 2004

This work presents a 3-axis active mount featuring the piezoelectric stack actuators. The inertia configuration for the piezoelectric actuators is adopted to achieve appropriate force and moment in each axis. In addition, the rubber mount is integrated to provide stiffness for system loading. In order to analyze the active mount, the governing equation for the force and moment is derived and its validity is demonstrated by comparing generated force and moment of each actuator between analysis and experiment. In addition, the natural frequency of each actuator is identified though both simulation and experiment.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.4
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• pp.64-72
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• 2004

In this paper, the dynamic stability of a hydraulic excavator using ZMP concept is considered. When a load is moved in an excavator based on automation, an excavator often loses the stability and falls over. This is because a dynamic element is not included in the moment equilibrium equation that is used in order to judge a reversal. Consequently, reversal distinction algorithm including all a static and a dynamic element along a load movement in crane work is necessary. Zero Moment Point(ZMP) is a point on the floor where the resultant moment of the gravity, the inertial force of the manipulator and the external force is zero. This study is going to interpret the reversal stability of the excavator to which is applied ZMP concept through simulation.