• Journal of the Korean Society for Precision Engineering
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• v.14 no.2
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• pp.92-101
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• 1997

In this paper, modeling methods for 2D joints are proposed. Earlier methods for modeling 2D joints that use geometric relationships may not consider irregularities or dynamic effects of joints. In any case, it is important to consider irregularities or dynamic effects. To consider those, methods that use dynamic contacts are proposed. With the method, 2D joints that have irregularities or dynamic effects amy be model- ed and analyzed. 2D joints that are developed are revolute, translational, gear and point-follower joint.

• Journal of Ocean Engineering and Technology
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• v.2 no.1
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• pp.116-124
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• 1988

해양구조물의 원통조인트에 대한 피로 수명 산출이 전통적으로 실험적 방법에만 의존해 왔음은,원통조인트의 구조가 복잡하여 용접부위 균열의 응력확대 계수 계산이 거의 불가능 했든 것이 주 원인이었다. 최근에 유한요소 3차원 모델을 이용한 계산방법이 개발되어 심히 구조적으로 복잡한 표면 균열의 응력확대계수 산출이 용이하게 되었다. 해양 구조물의 원통조인트에 대한 피로 수명 산출법을 개발하기 위한 연속되는 3부작의 제1부로서 본 논문은 X형 원통 조인트 용접주위 표면 균열의 응력확대 계수 거동을 분석하고 있다. 분석결과를 이용하여 응력확대계수를 엄격한 방법에 의해 계산하였다. 계산된 응력확대계수를 구조적인 관점에서 해석하고 있다.

• Journal of Ocean Engineering and Technology
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• v.3 no.2
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• pp.87-100
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• 1989

해양구조물의 원통형 조인트에 대한 파괴역학적 피로수명 산출방법이 개발되었다. 개발된 방법을 이용해서 2평면 K형 조인트에 대한 피로수명을 구체적인 파괴역학적 방법으로 산출 하였다. 이 분석을 위해 용접부위 표면균열의 응력확대 계수를 3차원 유한요소법에 의해 계산하였다. 계산된 결과에 의하면 용접부위 표면균열 첨단은 단순한 Mode I형태를 보이지 않고 Mode I, II, III이 복합된 형태임이 입증되었다. 계산된 응력확대 계수를 사용해서 16개의 용접부위균열 성장형태를 일반적인 피로균열 성장법칙을 적용해서 계산하였고, 균열성장의 안정분석을 통해 각 균열의 최종 파괴상태를 파괴해석도면(failure assessment diagram)법을 이용해서 계산하였다.

• Journal of Internet of Things and Convergence
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• v.4 no.2
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• pp.7-11
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• 2018

In this paper, kinematic based walking pattern generation of biped walking robot is reviewed. Biped walking robot should be consisted of 6 Degree of Freedom(DOF) for each leg to walk properly in 3 dimensional circumstance. In this paper, simple structure of biped robot is depicted for walking pattern firstly. After fixing path of ankle of the robot, angle joints are coming from kinematic equatioins. Coordination of joints of a robot was set for dynamic analysis also. So walking pattern of a robot will be designed using dynamic equations of coordination of joint angles. Finally, setting of ankle of robot and pattern generation are key procedures of the robot walking.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.5
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• pp.1199-1206
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• 2015

This paper introduces an algorithm for computing similarity between two poses in the motion capture data with different scale of skeleton, different number of joints and different joint names. The proposed algorithm first performs the topological analysis on the skeleton hierarchy for classifying the joints into more meaningful groups. The global joints positions of each joint group then are aggregated into a point cloud. The number of joints and their positions are automatically adjusted in this process. Once we have two point clouds, the algorithm finds an optimal 2D transform matrix that transforms one point cloud to the other as closely as possible. Then, the similarity can be obtained by summing up all distance values between two points clouds after applying the 2D transform matrix. After some experiment, we found that the proposed algorithm is able to compute the similarity between two poses regardless of their scale, joint name and the number of joints.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.2
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• pp.520-528
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• 1996

Four point bending tests of the brazed joint composed of sintered silicon nitride and 0.2% carbon steel with Cusil ABA filler which were fabricated at 86$0^{\circ}C$ were performed at temperatures, 25, 100, 200, 300, 400, 50$0^{\circ}C$ From the experiments, the maximum bending strength was measured at 30$0^{\circ}C$ From the 3D FE analysis of the residual stress of the brazed joint, it was revealed that the thermally induced residual stresses were minimized when the environmental temperature was 35$0^{\circ}C$ Considering the degradation of the filler material at high temperatures, it was calculated that the maximum bending strength of the brazed joint occured just below the temperature of the minimum thermal residual stress and the thermal residual stress was the dominative parameter of the brazed joint.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.2 s.233
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• pp.247-252
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.1
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• pp.21-27
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• 2013

Manual wheelchair propulsion can lead to pain and injuries of users due to mechanical inefficiency of wheelchair propulsion motion. The kinetic analysis of the upper limbs during manual wheelchair propulsion needs to be studied. A two dimensional inverse dynamic model of upper limbs was developed to compute the joint torque during manual wheelchair propulsion. The model was composed of three segments corresponding to upper arm, lower arm and hand. These segments connected in series by revolute joints constitute open chain mechanism in sagittal plane. The inverse dynamic method is based on Newton-Euler formalism. The model was applied to data collected in experiments. Kinematic data of upper limbs during wheelchair propulsion were obtained from three dimensional trajectories of markers collected by a motion capture system. Kinetic data as external forces applied on the hand were obtained from a dynamometer. The joint rotation angles and joint torques were computed using the inverse dynamic model. The developed model is for upper limbs biomechanics and can easily be extended to three dimensional dynamic model.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.18 no.2
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• pp.141-149
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• 2005

This paper deals with formulations of the energy equilibrium equation by an introduction of the algebraic description, quarternion, which meets conservations of system energy for the equation of motion. Then the equation is discretized to analyze the dynamits analysis of flexible multibody systems in such a way that the work done by the constrained force completely is eliminated. Meanwhile, Rodrigues parameters we used to express the finite rotation lot the proposed method. This method lot the initial essential step to a guarantee of developments of the 3D dynamical problem provides unconditionally stable conditions for the nonlinear problems through the numerical examples.

• Journal of the Korean Society for Railway
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• v.15 no.5
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• pp.485-497
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• 2012

Recently, with increasing social interests on noise and vibration induced by railway traffic, the application of floating slab track that can efficiently reduce the railway vibration is increasing. In this study, to more accurately understand the dynamic behavior of the floating slab track, a laboratory mock-up test has been performed, and the static and dynamic behaviors at frequency range near the system resonance frequency were explored. Based on the test results, the design of the floating slab track and the structural analysis model used in the design have been verified. The analytic and test results demonstrate that the dominant frequency of the floating slab track occurs at the frequencies between vertical rigid body mode natural frequency and bending mode natural frequency, and the dominant deformation mode is close to the bending mode. This suggests that in the design of the floating slab track, the bending rigidity of the slab and the boundary conditions at slab joints and slab ends should be taken into consideration. Also, the analytic results by the two-dimensional finite element analysis model using Kelvin-Voigt model, such as static and dynamic deflections and force transmissibility, are found in good agreement with the test results, and thus the model used in this study has shown the reliability suitable to be utilized in the design of the floating slab track.