• 한국정밀공학회지
• /
• 제13권8호
• /
• pp.128-138
• /
• 1996

Based on the virtual stiffness model, the stiffness of a grasped object is characterized. Differing from the previous investigations, the effect of grasp force on the stiffness of a grasp is formulated in terms of additional stiffness, which is called additional stiffness in this paper, and it is addressed how this term affects the stability of a grasp. In addition, a method of controlling the stiffness of a grasp is proposed and validated by experiments using a two-fingered robot hand.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.389-392
• /
• 2004

It is clinically well known that pre-tension of wires increases the fracture stability in ring or hybrid external fixation. In some cases, additional half pin should be necessary to increase the stability when soft tissue impalement occurs during fixation. In this paper, the fracture stability of a hybrid external fixator system with different pre-tension effects and additional half-pins was analysed using FEM to investigate the effects of these pre-tension and half pin on the system stability quantitatively. 3-D finite element models of five different fixator frames were developed using by beam elements. In axial compression analysis, the fracture stiffness was increased maximally 62％ as the pre-tension increased. In torsion analysis, in the other hand, there is little variations in the fracture stiffness. Additional half pin increased the system stiffness about 200 ％. From the results, proper pre-tension and additional half pin would provide good methods to increase the fracture stability of the hybrid external fixator and provide more surgical options to minimize soft tissue damage at the fracture site.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2002년도 ICCAS
• /
• pp.104.5-104
• /
• 2002

In this paper, we focus on a configuration control method of a redundant manipulator. The configuration of a redundant manipulator has been determined by geometry constraints and additional conditions, such as obstacle avoidance and dexterity optimization. This paper also utilizes optimization, and the additional condition (or performance index) to be optimized is stiffness of the end-effector and joints' torque. Stiffness and torque may be a natural attribute to be controlled during working and those vary as manipulator configuration does. So the optimal configuration from the viewpoint of stiffness and joint torque is studied. If the servo control mechanism of the joints Is assumed to be a...

• 한국소음진동공학회논문집
• /
• 제14권8호
• /
• pp.749-756
• /
• 2004

While designing shafting in reciprocating machines with internal combustion engines which derive generators, pumps, and vehicles, it is very important to calculate the additional stress of shafting by torsional vibration. In this paper, the transfer stiffness coefficient method which is based on the successive transfer of stiffness coefficient was applied to the calculation of the additional stress of shafting in reciprocating machine by torsional vibration. In order to confirm the effectiveness of the present method, a propulsion shafting with a diesel engine in a vessel was considered as the computational example of shafting in reciprocating machine. The results calculated by the present method were compared with those of the modal analysis method, the mechanical impedance method, and free vibration analysis.

• Steel and Composite Structures
• /
• 제3권5호
• /
• pp.333-348
• /
• 2003

The behaviour of composite frame - shear wall systems with regard to creep and shrinkage with high beam stiffness has been largely unattended until recently since no procedure has been available. Recently an accurate procedure, termed the Consistent Procedure (CP), has been developed which is applicable for low as well as for high beam stiffness. In this paper, CP is adapted for a class of composite frame - shear wall systems comprising of steel columns and R.C. shear walls. Studies are reported for the composite systems with high as well as low beam stiffness. It is shown that considerable load redistribution occurs between the R.C. shear wall and the steel columns and additional moments occur in beams. The magnitude of the load redistribution and the additional moment in the beams depend on the stiffness of the beams. It is also shown that the effect of creep and shrinkage are greater for the composite frame - shear wall system than for the equivalent R.C. frame - shear wall system.

• 한국정밀공학회지
• /
• 제19권12호
• /
• pp.109-119
• /
• 2002

In this paper, mechanism design of optical pickup actuator for fast access is proposed. This actuator is composed of moving magnet type actuator and moving coil type actuator for tracking and fine motion, respectively. Moving magnet type tracking actuator is configurated by two permanent magnets and four air-core solenoids. Additional damper by induced current in tracking actuator can reduce the transient vibration between the coarse seeking servo and fine seeking servo. Variable stiffness can be acquired by applying current to air-core solenoid simply. This actuator can achieve fast access by these additional damper and stiffness. Performance of this actuator is predicted through the FEM, simulation and simple experiment. Settling time for transient vibration is reduced to 14.7% according to simulation result.

• Structural Engineering and Mechanics
• /
• 제26권4호
• /
• pp.409-426
• /
• 2007

Following previous work carried out in Building Research Institute in Japan, finite element analyses of conceptual column designs are performed in this paper. The effectiveness of the numerical model is evaluated by experimental tests and parametric studies are conducted to determine influential factors in conceptual column designs. First, three different column designs are analysed: bonded, un-bonded, and un-bonded with additional reinforcing bars. The load-displacement curves and cracking patterns in concrete are obtained and compared with experimental ones. The comparisons indicate that the finite element model is able to reflect the experimental results closely. Both numerical and experimental results show that, the introduction of un-bonded zones in a column end can reduce cracking strains, accordingly reduce the stiffness and strength as well; the addition of extra reinforcement in the un-bonded zones can offset the losses of the stiffness and strength. To decide the proper length of the un-bonded zones and the sufficient amount of the additional reinforcing bars, parametric studies are carried out on their influences. It has been found that the stiffness of un-bonded designs slightly decreases with increasing the length of the un-bonded zones and increases with the size of the additional reinforcing bars.

• 대한기계학회논문집A
• /
• 제20권7호
• /
• pp.2108-2117
• /
• 1996

The purpose of this paper is to investigate the influence of the exciter attached for the measurement of natural frequencies when extracting the frequency response functions of the test structure in experimental modal analysis. The procedure is first to model the attached exciter as an additional degree of freedom system and next to verify the suggested model by experimentally extracting the natural frequencies of the test structure with various values of exciter mass, stinger stiffness and attachment position of the exciter on the test structure. It is concluded that as additional degree of freedom system which includes the natural frequency of the exciter itself and axial stiffness of stinger should be considered to quantatively define the coupling effects of structure-exciter interaction on the measured natural frequencies. It is not the mass of the exciter itself but the coupling effect of the additional degree of freedom mass-spring system consisting of exciter body and armature coil that characterizes the natural frequency deviation. Therefore, when the natural frequency of this additional mass-spring system is outside of the test frequency range, the coupling effect of structure-exciter interaction can be minimized.

• Structural Engineering and Mechanics
• /
• 제13권4호
• /
• pp.437-453
• /
• 2002

In this paper, dynamic stiffness and flexibility for circular membranes are analytically derived using an efficient mixed-part dual boundary element method (BEM). We employ three approaches, the complex-valued BEM, the real-part and imaginary-part BEM, to determine the dynamic stiffness and flexibility. In the analytical formulation, the continuous system for a circular membrane is transformed into a discrete system with a circulant matrix. Based on the properties of the circulant, the analytical solutions for the dynamic stiffness and flexibility are derived. In deriving the stiffness and flexibility, the spurious resonance is cancelled out. Numerical aspects are discussed and emphasized. The problem of numerical instability due to division by zero is avoided by choosing additional constraints from the information of real and imaginary parts in the dual formulation. For the overdetermined system, the least squares method is considered to determine the dynamic stiffness and flexibility. A general purpose program has been developed to test several examples including circular and square cases.

• 한국의류학회지
• /
• 제9권3호
• /
• pp.35-44
• /
• 1985

This research explored the effects of abrasion, laundering, and abrasion/laundering interaction upon wear of 15 durable nonwoven fabrics. Wear was measured in terms of changes in tensile strength and stiffness. The test materials consisted of nine different dry-laid commercial interfacing fabrics of various fiber contents and six spunbonded poyester and polypropylene fabrics. Three fixed levels of abrasion and four fixed levels of laundering made up the 3$\times$4 factorial analysis used for the experiment and the analysis of variance. Findings revealed that abrasion had a greater effect than laundering on strength and stiffness of the tested fabrics. Laundering seemed related to the particular fibers used and to the fixation quality of fiber bonds. Spunbonded webs performed better than dry-laid webs in retaining tensile strength Stiffness change occurred more readily than strength change. Lighter, flexible, stretchable fabrics seemed less easily abraded than heavier, stiff, less stretchable fabrics. The interfacing fabrics of 70/20/$10\%$ nylon/polyester/rayon blends with high crosswise stretchability effectively resisted wear caused by abrasion and laundering. Further research is recommended to study the effects of longer abrasion periods and additional laundering cycles o,1 wear qualities of nonwoven fabrics. Additional factors such as amount and fixation methods of bonding agents, the effect of shear distortion, seam construction, and drycleaning solvents could also be studied.