• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.4
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• pp.1813-1818
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• 2014

This paper presents the stability analysis of the haptic system including a human impedance using the Routh-Hurwitz criterion. The reflective force is computed from a virtual spring model and is transferred to a human operator using the first-order-hold method. The stability boundary conditions are induced and the relation among a virtual spring ($K_w$), the mass ($M_h$), the damping ($B_h$) and the stiffness ($K_h$) of a human impedance is analyzed. Hence the stability boundary of the virtual spring ($K_w$) is proposed as $K_w{\leq}54413{\sqrt{(M_h+M_d)(B_h+B_d)}}-0.486K_h$ when the sampling time is 1 ms. The average relative error is about 0.5% when the mathematical analysis results are compared with the results of the stability boundary model.

• Journal of the Korea institute for structural maintenance and inspection
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• v.26 no.4
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• pp.1-10
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• 2022

In this study, to evaluate the possibility of using a steel spring as a displacement-dependent damping device, tensile loading and cyclic loading tests were performed. The main experimental variables were the type of steel (SAE9254 and SS275), the spring constant (700 N/mm, 1,000 N/mm, and 1,400 N/mm), and the presence or absence of heat treatment for SAE9254. As a result of the tensile test, the ratios of the measured spring constant to the design spring constant of the steel springs made with SAE9254 ranged from 1.08 to 1.13, while the ratios of the design spring constant and the measured spring constant of the steel springs made with SS275 ranged from 0.86 to 0.97. After yielding, the slope values of the load-displacement curve of the SAE9254 with/without heat treatment were about 240~251 N/mm and 92 N/mm, respectively, but the slope values of the load-displacement response of SS275 were almost zero. According to the uniaxial cyclic loading test results, all specimens were satisfied with three conditions for a displacement-dependent damping device in KDS 41 17 00 (2019): the maximum force and minimum force at zero displacement, the maximum force and minimum force at the maximum displacement, and the energy dissipation capacity. In addition, the equivalent damping ratios of steel springs made with SAE9254(non-heat treatment) and SS275 were approximately 2.8 times and 1.9 times greater, respectively, than that of steel springs made with SAE9254.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1992.10a
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• pp.25-30
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• 1992

최근 전자계산기를 이용한 진동해석 방법이 눈부시게 발달하여, 일반 구조물 이나 기계 구조물 등의 동특성을 설계 단계에서 정도 높게 예측하는 것이 가능하게 되었다. 그러나 종래의 구조해석은 주어진 시스템의 동특성을 위한 것으로 얻어진 동특성으로부터 질량, 관성제원 및 스프링상수값 등의 설계상 수값을 규명하는 연구는 미미한 실정이다. 이것에 대한 해결방법으로 크게 해석적인 방법과 실험적인 방법으로의 접근이 있어 왔다. 해석적인 방법으로 유한요소해석에서 얻은 모드좌표를 물리좌표로 변환하는 방법으로 Guyan의 정축소와 같은 절점축소를 행하는 방법이 고찰되었다. 실험적인 방법으로 가 진실험에서 얻은 전달함수나 모드파라미터로부터 [M], [K] 행렬을 결정하는 연구가 있었지만 어떤것도 질량, 스프링상수 등의 설계상수를 완전히 규명하 지는 못하였다. 또한, 설계 단계에서 필요한 질량, 관성제원 또는 스프링상수 등의 최적한 값이나, 원하는 시스템특성을 얻을 수 있는 설계상수의 적정한 폭을 구하는 연구는 설계자의 경험과 반복된 시행착오에 의존하는 실정이다. 감도해석은 이러한 문제점을 개선하는 수단으로 설계변수에 대한 동특성의 변화율을 구하는 것이다. 감도해석을 수행하는 것은 어느 설계변수를 수정하 는 것이 주어진 동특성에 부합되는 지를 알려주고, 어느 것을 수정하는 것이 원하는 방향의 동특성변화에 가장 효과적인지를 알려주는 것이다. 따라서 감 도해석을 이용하여 설계의 최적화 프로그램을 만들수 있고, 이것은 설계자가 요구하는 동특성을 목적함수로 하여 주어진 구조물을 최적화하는 설계상수 값을 얻을 수 있게 한다. 본 논문에서는 강체모델의 동특성으로부터 모델의 설계 상수를 규명하고, 동특성의 개선을 위하여 설계변수의 변경량을 물리좌 표계에서 얻는것을 목적으로 한다. 강체 마운트계의 관성제원 및 마운트강성 의 규명을 위하여 임으로 주어진 설계상수를 모델데이타로 하여 관성제원과 스프링 강성을 구하였다. 관성제원의 규명은 주어진 모델의 관성값을 모르는 것으로 하여 임의의 초기 관성값으로 감도해석에 의해 주어진 계의 관성값 을 물리 좌표계에서 규명하였다. 마운트 강성의 규명도 관성제원의 규명과 같은 방법으로 임의의 강성값으로 감도해석을 하여 강성값을 규명하였다. 또 한 감도해석에 의한 동특성 변경은 특정한 고유진동 수의 변경이 필요할 때, 고유진동수의 이동을 위한 관성제원의 변경 및 마운트 강성변경값을 예측할 수 있다. 본 연구수행의 기본적인 흐름도는 Fig.1.1과 같다. 위와 같은 작업 으로 엔진 마운트와 같은 강체 모델의 시스템 규명을 행하는 경우에 유한요 소해석 및 가진 실험으로 얻은 고유진동수의 정보 또는 원하는 고유진동수 의 특성을 기본으로 실제 설계에서 사용이 가능하도록 물리 좌표계에서 관 성 제원 및 스프링상수를 구할 수 있을 것이다.

• Proceedings of the Optical Society of Korea Conference
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• 2001.02a
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• pp.116-117
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• 2001

정밀 삼차원 미세 형상 측정기에서 성능의 관건은 고속, 고분해능으로 측정하는 것이다. 그러기 위해서는 공진주파수가 높아야 하고 스프링 상수가 작아야 한다. 광포획 현미경(optical trap microscope, OTM)은 광포획 된 마이크로 입자를 프로브로 사용하는 것으로 입자에 작용하는 복원력이 광에 의한 힘뿐이므로 스프링 상수가 낮다. 또한 공진주파수는 f=√k/m 으로 입자의 질량이 매우 작으므로 공진주파수도 비교적 높다. (중략)

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.1
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• pp.572-578
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• 2017

Haptic systems help users feel a realistic sensation when they manipulate virtual objects in the remote virtual environment. However, there are communication time delays that may make the haptic system unstable. This paper shows the relationship between communication time delay, properties of a haptic device, and the stability of the haptic system with the first-order hold method in a simulation. The maximum available stiffness of a virtual spring with the first-order hold method is larger than in the zero-order hold method when there is no time delay. However, when the communication time delay is much larger than the sampling time, the maximum available stiffness to guarantee the stability becomes the same, irrespective of the sample-hold methods. Besides, the maximum available stiffness increases in inverse proportion to the communication time delay and in proportional to the damping coefficient of the haptic device.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.1
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• pp.31-36
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• 2014

This paper shows the feasibility of using carbon-fiber-reinforced polymer (CFRP) composite materials for manufacturing automotive coil springs. For achieving weight reduction by replacing steel with composite materials, it is essential to optimize the material parameters and design variables of the coil spring. First, the shear modulus of a CFRP beam model, which has $45^{\circ}$ ply angles for maximum torsional stiffness, was calculated and compared with the test results. The diameter of the composite spring was predicted to be 17.5 mm for ensuring a spring rate equal to that when using steel material. Finally, a finite element model of the composite coil spring with $45^{\circ}$ ply angles and 17.5 mm wire diameter was constructed and analyzed for obtaining the static spring rate, which was then compared with experimental results.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.3
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• pp.1047-1052
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• 2010

Influence of lateral spring constant on energy dissipation and load reduction factor with erespect to lateral vibration of steel sheet pile installed by vibratory pile driver. Energy dissipation and load reduction factor varying with free length of steel sheet pile are more affected by eccentricity than flexural rigidity of steel sheet pile regardless of the magnitudes of lateral spring constants. Load reduction factors were converged when lateral spring constant was equal or larger than 10000N/m.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.8
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• pp.1129-1136
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• 2010

Damper springs in a drive-line absorb the impulsive torque generated when a lock-up clutch is connected directly, instead of via a fluid coupling. Design optimization and finite element analysis were performed to improve the shock- and vibration-absorption capacity of the lock-up clutch. For this purpose, a multi-body dynamics model was developed by including the main parts of a vehicle, such as an engine with a clutch, a transmission, drive shafts and wheels, and a whole mass of a vehicle. The spring constants were selected so that resonance of a system could be avoided. Damper springs were optimized on the basis of the spring constants, impulsive torques, compressed angles, spring counts, fatigue constraints, etc. Topology optimization was performed for three plates with the damper springs. The compliance was set up as an objective function, and volume fraction was fixed below 0.3. A new shape for the plates was proposed on the basis of the topology result.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.7
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• pp.3577-3581
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• 2013

In order to analyze a pile constructed by vibro-hammer, vibrational characteristics of vibro-hammer should be investigated first. Analytical studies were conducted in order to investigate vibrational properties of vibro-hammer. It is thought that the concept of acting the spring force to the pile head should be replaced by the concept of considering the lumped mass of the exciter and the pile. For the situation of free vibration, spring force increase with increase of spring constant and the amplitude is little affected by the spring constant. Also for the situation of free vibration, amplitude is inversely proportional to the increase of mass of the exciter and it can be seen that spring force increase with amplitude by the same ratio. It can be seen that directions of the spring force and displacement are opposite to that of rotating mass.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.11
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• pp.5338-5343
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• 2013

In a haptic system, a virtual wall is modeled as a virtual spring. The larger the stiffness of the virtual spring is, the more improved the reality of the virtual wall is, but the more unstable the haptic system becomes. This paper shows how to increase the stiffness of the virtual spring while the stability of the haptic system is guaranteed and shows the effects of a mass (Md) and a damper (Bd) of a haptic device on the stability when first-order hold method is applied and a virtual wall is modeled as a virtual spring (Kw). The simulation results show the boundary of the virtual spring is proportional to the square root of the mass (Md) and the damper (Bd) while maintaining the stability. The relation among the virtual spring (Kw), the mass (Md) and the damper (Bd) of the haptic device, and sampling time (T) is inferred as $K_w{\leq}{1.611M_d}^{0.50}{B_d}^{0.50}T^{-1.51}$, by using the simulation results. The maximum available stiffness of the virtual spring in first-order hold method is larger than in zero-order hold method. So the reality of the virtual wall can be improved.