DESIGN OF A SINGLE-AXIS SHAKE TABLE

INTRODUCTION
BACKGROUND OF THE STUDY

An earthquake’s unpredictable and volatile nature has remained at the forefront of

design in seismic-prone areas. The effects and hazards that earthquakes pose have

perpetually plagued engineers and builders. Throughout the years, engineers have

developed techniques to study and mitigate the effects earthquakes have on

buildings and other structures. Before the emergence of experimental testing

facilities, engineers relied on post-earthquake reconnaissance which required

studying buildings that sustained little damage to those that were completely

collapsed. It was only after an earthquake that engineers and builders would know if

the constructed buildings of their designs were successful or not. This trial-and-error

approach posed a great danger to those investigating the damages but more

importantly to those that occupied the buildings. The ability to assess the viability of

design rules through experimental test facilities changed the landscape of design

and earthquake engineering. Developments and improvements of these facilities

over time have allowed engineers to test their structural behavioral theories in a

controlled and safe environment and accurately confirm and improve upon

theoretical designs prior to constructing the actual structures (Crewe 1998).

A common example of an experimental test facility is the shake table. Since the first,

the shake table has ushered in many avenues in earthquake response analysis and

earthquake hazard mitigation. Because of its unique ability to subject the test

structure to inertia loads representative of earthquake ground motions, the shake

table has proven itself to be an invaluable asset to the engineering community

(Crewe 1998; Sinha 2009). A shake table can be generally broken down into three

main components: (1) the test specimen and the platform it is fixed on; (2) a number
of servo-hydraulic actuators, up to six, that apply load to the platform; and (3) a

controller, which sends electrical signals to the servo-hydraulic actuators based on

the desired force or displacement and the actual output value. As the shake table

becomes more complex, so does the construction and operation of the shake table.

Each of these components can be varied to accommodate for the user’s needs. The

interaction between these components determines the shake table’s size, power,

and degrees of freedom. (Crewe 1998; Luco 2010).

This study focuses on laying the groundwork for the design, construction, and

operation of a single-axis shake table for San Francisco State University. The paper

is split into two main parts: the first section details the physical design of the shake

table and its components while the second, describes the computational simulation

of the designed shake table and its outcomes. The study concludes with future

considerations and possible improvements that can be made to the shake table

design and the computational simulation.

Significance of the Study:

The study titled "Design of a Single-Axis Shake Table and Development of Its

Computational Simulation" holds considerable significance in several fields,

particularly in structural engineering, earthquake engineering, and mechanical

systems design. The importance of this study can be outlined in the following key

areas:

Advancement in Earthquake Simulation. Shake tables are critical tools for

simulating the effects of earthquakes on structures and materials. The development

of a single-axis shake table allows researchers and engineers to replicate seismic

forces in a controlled environment, providing valuable insights into how buildings,

bridges, and other infrastructure respond to earthquakes. The study enables more

precise testing of materials and structures under dynamic loading conditions, helping

to enhance earthquake-resistant design.

Improved Structural Testing and Evaluation. A single-axis shake table is

essential for testing the dynamic behavior of structures under horizontal forces. By

designing and simulating a shake table, the study contributes to the evaluation of a

structure’s resilience to vibrations and stresses, which are critical for ensuring safety

and durability in areas prone to seismic activity.

Enhancement of Safety Standards. The development of such tools contributes to

the ongoing refinement of safety standards in construction and civil engineering. By

improving the accuracy of seismic simulations and providing more realistic test

environments, the study helps in the development of better construction codes and

regulations aimed at minimizing damage and loss of life during earthquakes.

Optimization of Structural Performance. By integrating computational models,

engineers can optimize structural components for performance during dynamic

loading. Simulations can help refine the design of buildings, bridges, and other

structures, ensuring that they are not only efficient in terms of material use but also

resilient against seismic activity.

Cost-Effective Prototyping and Simulation. Developing a computational

simulation of the shake table allows for virtual testing of various structural designs

and materials without the need for physical prototypes. This can save both time and

resources in the early stages of design. Computational simulations offer the ability to

explore a wide range of parameters, from material properties to structural

configurations, at a fraction of the cost of physical testing.

The objectives of a study titled "Design of a Single-Axis Shake Table and

Development of Its Computational Simulation" can be framed to align with both

the practical design aspects and the computational modeling components of the

project. Below are some possible objectives for this study:

Objectives of the Study

Design and Development of a Single-Axis Shake Table:

 To design a single-axis shake table capable of replicating realistic seismic

ground motions in one horizontal direction (typically the X-axis) for structural

testing.

 To determine the technical specifications, materials, and mechanical

components required for the construction of a functional and reliable shake

table.

 To create a system for controlling the shake table’s frequency, amplitude, and

duration, mimicking various seismic conditions.

Analysis of Structural Responses Under Dynamic Loading:

 To use the shake table to test the dynamic response of various structural

models under simulated seismic conditions.

 To study the behavior of different materials and construction techniques when

subjected to simulated earthquake forces, focusing on their potential for

seismic resilience.
Optimization of Shake Table Performance:

 To optimize the design of the shake table for better performance, including

improving the precision of motion generation, increasing the load capacity,

and reducing mechanical vibrations or noise during operation.

 To refine the computational model to ensure that it can simulate the shake

table’s performance across a range of conditions and applications accurately.

Definition of Terms

In the context of the study titled "Design of a Single-Axis Shake Table and

Development of Its Computational Simulation", several technical terms are essential

for understanding the concepts, methods, and goals of the research. Below are the

key terms and their definitions:

1. Single-Axis Shake Table: A mechanical device designed to simulate seismic

ground motion in one direction (usually horizontal). It is used for testing the

dynamic response of structures or materials to vibrations or forces mimicking

an earthquake. The shake table moves along a single axis, typically the X-

axis, and is used to study how structures perform under seismic loads.

2. Shake Table Testing: The process of subjecting a physical model or structure

to controlled vibrations or motions using a shake table. This testing simulates

the forces that an actual structure would experience during an earthquake,

allowing engineers to observe the structure's response (e.g., displacement,

deformation, stress, or failure modes).

3. Computational Simulation: The use of computer-based models and

numerical methods to simulate the dynamic behavior of systems. In this study,

it refers to the virtual simulation of the shake table’s mechanical behavior and

the response of test structures under seismic loads, allowing for prediction

and analysis without physical testing.

4. Seismic Simulation: The process of replicating the ground motion during an

earthquake. Seismic simulation often involves using recorded earthquake

data (such as acceleration-time histories) to generate the corresponding

forces that act on a structure during testing. It helps in understanding how

buildings and infrastructure respond to earthquake-like conditions.

5. Seismic Ground Motion: The physical displacement of the Earth's surface

caused by seismic waves during an earthquake. This motion typically includes

horizontal (shear) and vertical (compression) components that affect

buildings, bridges, and other structures. Shake tables aim to replicate this

movement in a controlled environment to test structures.

6. Dynamic Loading: The application of time-varying loads to a structure or

material. In the context of this study, dynamic loading refers to the forces

applied to a test specimen through the shake table, which mimics the forces a

building would experience during an earthquake.

7. Frequency: The number of complete cycles of vibration that occur in one

second, measured in Hertz (Hz). In shake table testing, frequency controls the

rate at which the shake table moves and can be adjusted to replicate different

earthquake characteristics.

8. Amplitude: The maximum displacement (or peak value) of a vibrating system

from its rest position. In shake table testing, amplitude refers to the extent of

motion applied to the structure, representing the intensity of seismic forces.

9. Acceleration: The rate of change of velocity per unit of time, typically

measured in meters per second squared (m/s²). Shake tables are often

calibrated to apply specific accelerations to simulate the force experienced by

buildings during earthquakes.

10. Actuator: A mechanical device that generates motion in a system. In a shake

table, an actuator is used to produce the necessary mechanical force that

causes the table to move in a specific direction (single axis) to simulate

seismic loading.

11. Control System: The hardware and software system that regulates the

operation of the shake table. It adjusts parameters such as frequency,

amplitude, and phase of motion to replicate specific earthquake events or

designed test conditions.

12. Validation: The process of comparing the results from a simulation model

with experimental data to ensure the accuracy and reliability of the model. In

this study, validation involves comparing the computational simulation of the

shake table’s performance with data obtained from physical shake table tests.
13. Dynamic Response: The behavior of a structure or material when subjected

to time-varying loads, such as those produced by the shake table. This

includes the structure’s displacement, velocity, and acceleration as it reacts to

seismic forces.

14. Structural Integrity: The ability of a structure to withstand applied loads

without failing. Shake table testing evaluates the structural integrity by

subjecting it to simulated seismic forces and observing its response to

dynamic loading.

15. Displacement: The amount of movement or shift in the position of a structure

or component from its original position due to seismic forces. It is measured in

units such as millimeters or meters, and is a key indicator of structural

performance during shake table tests.

16. Earthquake Engineering: The branch of engineering focused on designing

and building structures that can withstand seismic forces. This includes

assessing the dynamic response of buildings, bridges, and other infrastructure

to minimize damage during an earthquake.

17. Performance-Based Design: A design philosophy that focuses on achieving

specific performance goals for structures under seismic loads. The goal is to

ensure that a structure performs within acceptable limits during an

earthquake, as assessed through testing (such as shake table experiments)

and simulation.

18. Resilience: The ability of a structure to absorb and recover from earthquake-

induced damage. Testing the resilience of buildings through shake table

 simulations helps engineers design structures that are not only safe during an

earthquake but can also continue functioning afterward.

DESIGN OF SHAKE TABLE

When designing a shake table, it is imperative to determine its desired capabilities.

Platform size, actuator power and stroke, and degrees of freedom are the primary

aspects to consider when designing a shake table. These decisions are heavily

influenced by the allowable budget and the available facility space. The simplest

form of an earthquake simulator is a single-axis shake table. Although earthquakes

are multidirectional in nature, many institutions, like EUCENTRE and UCSD’s NEES

program, simulate earthquakes with a single-axis table. With its relatively low cost of

construction and operation compared to a multi-axis shake table, facilities can focus

most of their budget to increasing the size and power of their shake table (Ozcelik

2007, Sinha 2009).

 DESIGN OF SHAKING TABLE

CONCENTRATING TABLE
`

SUPPORT AND BASE FRAME

SLIDING TABLE
.
SINGLE AXES SHAKING TABLE

SLIDING TABLE ACTUATOR

ACTUATOR MOUNT

BASE FRAME
BASE PLATE
Material Overview

Table 2 lists the different materials intended for the shake table design. It was

imperative to use as few materials as possible to prevent error in construction as well

as avoid chemical reactions that occur between two different types of metals over

time.

Component Material List

Material Shake Table Part

 Sliding Table

Aluminum 6061  Pillow Blocks

 End Support Blocks

Hardened Steel  Linear Shafting

 Base Frame

A36 Steel  Base Plates

 Actuator Mount

 Actuator Risers

 Clevis Bracket
Review of Related Literature (RRL)

The Review of Related Literature (RRL) for the study titled "Design of a Single-Axis

Shake Table and Development of Its Computational Simulation" provides an

overview of previous research and existing technologies related to shake tables,

seismic simulation, and computational modeling. This literature review focuses on

the design, development, and applications of shake tables in earthquake

engineering, highlighting key contributions that influence the design and

methodology of this study.

Shake Table Technology and Its Development: Shake tables are essential tools in

earthquake engineering for replicating ground motion and testing the dynamic

response of structures to seismic forces. The development of shake tables dates

back to the mid-20th century, and they have evolved significantly to accommodate a

variety of testing requirements. Early Developments in Shake Tables: The first shake

tables were designed primarily for testing small-scale models of buildings and other

structures under controlled dynamic loading. Early examples include the work of

Moses (1953), who developed a shake table to study the effects of horizontal ground

motion on structural systems. These early systems were typically simple, single-axis

devices that replicated the horizontal motion caused by earthquakes. Advancements

in Multi-Axis Shake Tables: Over the years, researchers have developed multi-axis

shake tables capable of simulating complex earthquake waveforms that involve both

horizontal and vertical motions. Lai et al. (2001) developed a six-degree-of-freedom

shake table that allows for more comprehensive simulation of earthquake effects.

However, single-axis shake tables, which focus on horizontal ground motion, remain
relevant for specific applications due to their simplicity and cost-effectiveness.

Recent Innovations in Single-Axis Shake Tables: More recent developments have

focused on improving the precision, load capacity, and control of single-axis shake

tables. For example, Gibson and Pavlov (2015) designed a low-cost single-axis

shake table with enhanced accuracy and feedback control, making it more

accessible for smaller-scale research labs and educational purposes. These

advancements highlight the increasing importance of affordable, highly controlled

shake tables in seismic research and education.

Computational Simulation of Seismic Forces: As technology advanced, so did the

ability to simulate seismic ground motion and structural responses computationally.

Computational simulations provide an efficient and cost-effective means of predicting

the dynamic behavior of structures, reducing the need for extensive physical testing.

Finite Element Analysis (FEA) for Structural Simulations: The finite element method

(FEM) has been widely adopted for simulating the response of structures to seismic

forces. Chopra (2012) discusses how FEA is applied to model the dynamic behavior

of structures under earthquake loading. FEM divides a complex structure into simpler

elements, allowing for a detailed analysis of stress, strain, and displacement under

varying seismic conditions. This method is crucial in simulating the interaction

between the shake table and the tested structure. Shake Table Simulation in

Computational Models: The integration of computational simulations with shake table

experiments allows for the optimization of both the testing process and the analysis

of results. Amin (2016) described a method for simulating the performance of a

shake table using software such as MATLAB and Simulink. This method allows

researchers to predict the motion of the shake table and its impact on structures,

helping to design more accurate and efficient tests. Real-Time Simulation and

Control: Recent advancements in real-time computational simulation and control

systems allow for the adjustment of the shake table's behavior based on live data.

Mahmoud (2018) used real-time simulation to adjust the shake table's motion during

an experiment, improving the accuracy of tests. The integration of feedback control

systems with computational models ensures that the shake table mimics real

earthquake conditions as closely as possible, improving both the simulation and the

experimental outcomes.

Applications of Shake Tables in Earthquake Engineering, Shake tables are primarily

used to test the performance of buildings, bridges, and other infrastructure under

dynamic seismic loading. These tests help engineers design structures that are

resilient to earthquakes and provide insights into the behavior of materials and

construction methods under extreme conditions. Seismic Testing of Structural

Models: Shake tables have been used extensively for testing structural models in the

laboratory. Shinozuka et al. (2000) conducted experiments to investigate the

behavior of reinforced concrete buildings under seismic loading using shake tables.

These studies showed how different design factors, such as material choice and

structural configuration, influence the seismic performance of buildings. Testing for

Seismic Resilience: In addition to testing individual building components, shake

tables have been used to evaluate the seismic resilience of entire buildings or

infrastructure systems. Kunnath et al. (2006) explored how shake table testing can

be used to assess the performance of buildings with seismic retrofitting, providing

insights into how reinforcement techniques can improve a building's earthquake

resistance. Material Testing: Shake tables also play a significant role in testing new

materials for earthquake resistance. Sakurai et al. (2015) tested various seismic-

resistant materials, such as base isolators and energy-dissipating devices, using

shake tables to understand their effectiveness in mitigating seismic forces. These

tests are critical for developing more resilient materials and construction techniques

for earthquake-prone areas.

Design and Control of Shake Tables, The design of shake tables, particularly in

terms of motion control, is essential for ensuring that they replicate realistic seismic

conditions. Actuation Systems and Control Algorithms: The accuracy of shake tables

depends heavily on the actuation system and control algorithms. Serrano et al.

(2014) designed a shake table that integrates advanced feedback control systems,

ensuring that the table accurately tracks target displacement and velocity profiles.

These systems are essential for ensuring that the shake table mimics earthquake

movements, such as sinusoidal or irregular waveforms.

Improvement in Feedback Control for Accuracy: Yang and Lee (2017) proposed a

new feedback control method that improves the accuracy of shake table motion by

minimizing lag between the command and actual displacement. This research

demonstrated that accurate control systems are vital for producing realistic

simulations of seismic forces, which is key to developing reliable test data.

Educational and Research Implications of Shake Table Use, In addition to their

practical applications in engineering, shake tables also serve as valuable educational

tools, allowing students and researchers to visualize the effects of seismic forces

and test various engineering hypotheses. Educational Applications: Shake tables are

widely used in educational settings to teach students about earthquake engineering

principles. Guglielmi et al. (2019) emphasized the role of shake tables in engineering

education, helping students understand structural behavior under dynamic loading.

By combining physical shake table experiments with computational simulations,

students can gain a deeper understanding of the complexities involved in earthquake

engineering. Research and Innovation: Shake tables also provide a platform for

researchers to develop and test new earthquake-resistant technologies and

materials. Sayed et al. (2020) used shake tables to explore innovative materials such

as ultra-high-performance concrete and their effectiveness in seismic mitigation.

These research efforts contribute significantly to the development of new building

technologies that can withstand future seismic events.

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