• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.396-399
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• 1995

This paper presents a new formulation of the kinematics of closed-chain mechanisms and its applications to obtaining the kinematic solutions and analyzing the singularities. Closed-chain mechanisms under consideration may have the redundancy in the number of joints. A closed-chain mechanism can be treated as the parallel connection of two open-chains with respect to a point of interest. The kinematics of a closed-chain mechanism is then obtained by imposing the kinematic constraints of the closed-chain on the kinematics of the two open-chains. First, we formulate the kinematics of a closed-chain mechanism using the kinematic constraint between the controllable active joints and the rest of joints, instead of the kinematic constraint between the two open-chains. The kinematic formulation presented in this paper is valid for closed-chain mechanisms with and without the redundancy. Next, based on the derived kinematics of a closed-chain mechanism, we provide the kinematic solutions which are more physically meaningful and less sensitive to numerical instability, and also suggest an effective way to analyze the singularities. Finally, the computational cost associated with the kinematic formulation is analyzed.

• 한국정보통신학회논문지
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• 제5권3호
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• pp.475-482
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• 2001

본 논문에서 소켓 기반의 분산리스트와 RMI 기반의 분산리스트 구현을 중심으로 기술한다. 먼저 소켓 기반 분산리스트에 있어서 메시지를 포장할 때 객체 스트림을 사용하여 분산리스트 인터페이스를 분산환경에 맞게 구현하고 기술한다. 둘째로 RMI로 분산리스트를 구현하는 가장 큰 목적은 약간 복잡한 애플리케이션을 구현함으로써 다른 네트워킹 메카니즘과의 장단점을 비교하는 것으로 RMI를 사용할 때의 가장 큰 장점은 애플리케이션 레벨 프로토콜을 사용하지 않고도 프로그램을 간단하게 구현할 수 있다는 것이다. 프로그램의 효율이 라는 측면에서 살펴본다면 RMI를 사용한 애플리케이션은 매 업데이트마다 생성되는 많은 TCP/IP 연결로 인해 성능이 매우 떨어질 수 있다[1]. TCP/IP 연결은 RMI에 비해 매우 적은 비용을 요구하며 비록 RMI가 하나의 네트워크 연결을 사용해서 여러 메소드 호출을 처리해 주는 메카니즘을 가지고 있기는 하지만 직접 소켓을 사용하는 것보다는 효율이 떨어진다. 그러나 RMI는 HTTP 프록싱 메카니즘을 사용하여 방화벽을 넘어 통신하는 것이 가능하다[2]. 따라서 두 시스템을 비교 분석함으로써 최적화 해법을 모색하여 네트워킹 메카니즘 모델링을 제시하고자 한다.

• Steel and Composite Structures
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• 제28권2호
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• pp.167-177
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• 2018

In order to investigate mechanical properties in the core area of Square Hollow Section(SHS) column connection with external stiffening ring, four specimens were tested under the static tension load. The failure modes, load-displacement curves and strain distribution were analyzed to study the mechanical properties and the load transfer mechanism of the core area of connections. The connections behave good ductility and load-bearing capacity under the static tension load. Parametric analysis was also conducted, in which the thickness of steel tube, extended width and thickness of the stiffening ring were considered as the parameters to investigate the effects on mechanical properties of the connections. Based on the experimental results, an analytical method for the bearing capacity of connection with external stiffening ring under the static tension load was proposed. The theoretical results and the experimental results are in good agreement, which indicates that the theoretical calculation method of the bearing capacity is advisable.

• 한국강구조학회 논문집
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• 제10권1호통권34호
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• pp.25-35
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• 1998

각형 강관 기둥과 H형 보의 접합부에 대한 연구는 보의 하중을 기둥에 전달하는 과정에서 생기는 응력의 집중현상 때문에 하중을 효율적으로 전달하는 방식을 고안하는 것에 초점을 맞추었다. 본 연구에서는 외부보강형 접합부의 강도를 증가시키기 위한 방법으로 직사각형의 스티프너를 사용하였다. 실물의 절반크기로 시험체를 제작하여 단순 인장실험을 실시하였다. 항복선이론과 가상일법을 이용하여 접합부의 극한강도를 추정하는 공식을 유도하였으며 실험치에 근접한 결과를 얻었다.

• Steel and Composite Structures
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• 제50권2호
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• pp.217-235
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• 2024

Concrete-filled steel tubes (CFSTs) nowadays are widely used as the main parts of momentous structures, and its connection has gained increasing attention as the complexity in configuration and load transfer mechanism. This paper proposes a novel CFST pier-to-footing incorporating tube-confined RC encasement. Such an innovative approach offers several benefits, including expedited on-site assembly, effective confinement, and collision resistance and corrosion resistance. The seismic behavior of such CFST pier-to-footing connection was studied by testing eight specimens under quasi-static cyclic lateral load. In the experimental research, the influences on the seismic behavior and the order of plastic hinge formation were discussed in detail by changing the footing height, axial compression ratio, number and length of anchored bars, and type of confining tube. All the specimens showed sufficient ductility and energy dissipation, without significant strength degradation. There is no obvious failure in the confined footing, while local buckling can be found in the critical section of the pier. It suggests that the footing provides satisfactory strength protection for the connection.

• 대한기계학회논문집A
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• 제29권12권
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• pp.1645-1652
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• 2005

Pick-and-place systems using suction cups have been being widely used and continuously developed in production automation. There are, however, some drawbacks in constructing such systems. One of them is that it generates high level noise due to air compressors. And the system must have complex constitutions of mechanical component such as air compressors, air tubes, air valves, etc. Moreover, it needs continuous air supply to maintain vacuum in suction cups. If there is a failure in any suction cup, the total suction system may fail owing to air leakage. To overcome these drawbacks, we propose PMS (Permanent Magnet Suction) mechanism which has permanent magnets for vacuuming suction cups with no air compressor. The basic concept of PMS mechanism is to rotate permanent magnets with fixed angle. Simple rotation of permanent magnets changes the direction of the magnetic force applied at the suction cups. Since each suction cup has no direct connection with any of the others, the air leakage at one suction cup is not critical. The proposed suction mechanism was designed and fabricated. With some experiments, the feasibility and performance of the PMS mechanism was shown. The strong points of the PMS mechanism are in its simple structure, generating low noise, high energy efficiency, and no need of continuous energy supply.

• 전기학회논문지
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• 제58권7호
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• pp.1321-1328
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• 2009

In this paper, an electromagnetic force driving actuator (EMFA) and three-link mechanism are proposed as a driving mechanism and connection device for low voltage air circuit breaker (ACB). As the result of dynamic characteristic analysis, the actuator and link mechanism are designed from the simulation and manufactured. The magneitc field of the EMFA is analyzed using the finite element method (FEM). The dynamic characteristic analysis with calculation of the circuit equation and kinetical equation is performed by the time difference method (TDM). Also, the result of the analysis is verified through the experiment of the fabrication model. In this paper, the EMFA size is smaller than the actuator for high voltage circuit breaker. Thus, the dynamic characteristic is analyzed with end-winding inductance that is calculated by the same method which is applied on the circle type end-winding of motors. The designed model for 1600 ampere-frame ACB and the three-link mechanism for connecting contact part with actuating part are manufactured. It is confirmed that the three-link mechanism is possible for improving the circuit breaker efficiency and reducing the size of the EMFA. It is proved that the improved 2-D analysis is more accurate than established method.

• Structural Engineering and Mechanics
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• 제46권4호
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• pp.487-504
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• 2013

In the present work a new friction device, with a set of single or double rotational friction flanges and a link element, is described and tested. The mechanism may be applied for the strengthening of existing r/c or steel buildings as well as in new constructed buildings. The device has selectable variable behavior in different levels of displacement and an interlock mechanism that is provided by the link element. The link element may be designed to lock at preselected level of displacement, offering in this way an extra safety reserve against strong earthquakes. A summary of the existing literature about other similar mechanisms is initially presented in this paper. The proposed mechanism is presented and described in details. Laboratory experiments are presented in detail and the resulted response that proves the efficiency of the mechanism at selectable levels of strength capacity is discussed. Drawings of the mechanism attached to a r/c frame with connection details are also included. Finally a dynamic analysis of two r/c frames, with and without the proposed mechanism attached, is performed and the resulted response is given. The main conclusion is that the proposed mechanism is a cheap and efficient devise for the improvement of the performance of new or existing framed buildings to seismic loads.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2009년도 춘계학술대회 논문집
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• pp.179-180
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• 2009

• 한국전산구조공학회논문집
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• 제23권5호
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• pp.543-550
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• 2010

내진설계는 타 설계의 요구사항, 즉 각 구조부재의 설계강도가 소요강도 이상이어야 한다는 것을 만족해야 하는 동시에 지진발생시 구조물의 항복과정을 규명하여 제시하여야 한다. 이러한 요구사항이 추가되는 이유는 타 하중과는 차별되는 지진하중의 불확실성이다. 이 연구에서는 일반교량을 해석대상교량으로 선정하고 연결부분의 설계를 수행하여 연성파괴메카니즘을 확보하는 과정을 제시하였다. 이와 같은 과정으로부터 구조부재의 강도 증가 또는 지진저감장치 도입 등의 비용증가 없이 타 설계에서 요구되는 구조부재의 강도 이내에서 내진성능을 확보할 수 있다는 것을 확인하였다.