• Earthquakes and Structures
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• v.7 no.3
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• pp.385-400
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• 2014

Pounding damage to bridges and buildings is observed in most major earthquakes. The damage mainly occurs in reinforced concrete slabs, e.g. building floors and bridge decks. This study presents the results from pounding of reinforced concrete slabs. A parametric investigation was conducted involving the mass of the pendulums, the relative velocities of impact and the geometry of the contact surface. The effect of these parameters on the coefficient of restitution and peak impact acceleration is shown. In contrast to predictions from numerical force models, it was observed that peak acceleration is independent of mass. The coefficient of restitution is affected by the impact velocity, total participating mass and the mass ratio of striker and struck block.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1080-1084
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• 1989

The motion of an workpiece to be manipulated is determined by the forces applied to the workpiece. During the contact between the robot hand and the workpiece, impulsive forces may dominate all other forces, and determine the ultimate success or failure of a task. Therefore, one of the important problems in the robot hands is the control of the initial impact force. In this paper, the problem of the force control of robot hand under system with contact force is presented. The principle of energy can be applied in the modelling of the impact force. In order to achieve stable contact and avoid bounces and vibrations, VSS is adopted in the design of the contact force controller. Some simulations are carried out for a pushing operation to control the contact force.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.11
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• pp.604-613
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• 2018

In recent years, numerous train derailment accidents caused by deterioration and high speed technology of railways have increased. Guardrails or barriers of railway bridges are installed to restrain and prevent the derailment of the train body level. On the other hand, it can result in a high casualties and secondary damage. Therefore, a Derailment Containment Provision (DCP) within the track at the wheel/bogie level was developed. DCP is designed for rapid installation because it reduces the impact load on the barrier and inertia force on the steep curve to minimize turnover, fall, and trespass on the other side track of the bridge. In this paper, DCP was analyzed using LS-Dyna with a parameter study as the impact loading location and interface contact condition. The contact conditions were analyzed using the Tiebreak contact simulating breakage of material properties and Perfect bond contact assuming fully attached. As a result, the Tiebreak contact behaved similarly with the actual behavior. In addition, the maximum displacement and flexural failure was generated on the interface and DCP center, respectively. The impact analysis was carried out in advance to confirm the DCP design due to the difficulties of performing the actual impact test, and it could change the DCP anchor design as the analysis results.

• Steel and Composite Structures
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• v.26 no.6
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• pp.771-791
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• 2018

This paper deals with the low velocity impact response and dynamic stresses of composite sandwich truncated conical shells (STCS) with compressible or incompressible core. Impacts are assumed to occur normally over the top face-sheet and the interaction between the impactor and the structure is simulated using a new equivalent three-degree-of-freedom (TDOF) spring-mass-damper (SMD) model. The displacement fields of core and face sheets are considered by higher order and first order shear deformation theory (FSDT), respectively. Considering continuity boundary conditions between the layers, the motion equations are derived based on Hamilton's principal incorporating the curvature, in-plane stress of the core and the structural damping effects based on Kelvin-Voigt model. In order to obtain the contact force, the displacement histories and the dynamic stresses, the differential quadrature method (DQM) is used. The effects of different parameters such as number of the layers of the face sheets, boundary conditions, semi vertex angle of the cone, impact velocity of impactor, trapezoidal shape and in-plane stresses of the core are examined on the low velocity impact response of STCS. Comparison of the present results with those reported by other researchers, confirms the accuracy of the present method. Numerical results show that increasing the impact velocity of the impactor yields to increases in the maximum contact force and deflection, while the contact duration is decreased. In addition, the normal stresses induced in top layer are higher than bottom layer since the top layer is subjected to impact load. Furthermore, with considering structural damping, the contact force and dynamic deflection decrees.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.272-275
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• 1997

When a manipulator makes contact with an object having position uncertainty, performance measures vary considerably with the control law. To achieve the optimal solution for this problem, an unique objective function that weights time and impact force is suggested and is solved with the help of variational calculus. The resulting optimal velocity profile is then modified to define a sliding mode for the impact and force control. The sliding mode control technique is used to achieve the desired performance. Sets of experiments are performed, which show superior performance compared to any existing controller.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2001.05a
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• pp.69-73
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• 2001

Damage induced by low-velocity impact on the curved composite laminates was experimentally evaluated for CFRP cylindrical shells with the radius of curvatures of 50, 150, 300, and 500 mm. The result was then compared with that of flat laminates. The radius of curvatures and the effective shell stiffness appeared to considerably affect the dynamic impact response of curved shells. Under the same impact energy level, the maximum contact force increased with the decreasing radius of curvatures, with reaching 1.5 times that for plates at the radius of curvature of 50 mm. Since the maximum contact force is directly related to the impact damage, curved laminates can be more susceptible to delamination and less resistant to the low-velocity impact damage. The distribution of delamination along the thickness direction of curved laminates are also different from that of flat plates. Delamination was distributed rather even]y at each interface along the thickness direction of curved laminates. This implies that the effect of curvatures has to be considered for the design of a curved composite laminate.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.6
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• pp.981-986
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• 2003

In order to investigate the possibility of processing of brittle material by ball impact, the effects of boundary conditions about impact damage of soda-lime glass by small spheres were evaluated experimentally. It was investigated that crack appearance developed in soda-lime glass with boundary conditions of without sealing, single-sealing and double-sealing by impact velocity. The double-sealing was most effective in the development of perfect cone than other boundary condition. In case of double-sealing condition, PVC and Polyurethane sealing were more effective in producing a perfect cone formation than other sealing materials. The impact velocity range over which perfect cones were formed was influenced by both the contact area and diameter of impact particle.

• Steel and Composite Structures
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• v.49 no.3
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• pp.281-291
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• 2023

Due to the fact that the nonlinear low-velocity impact response of graphene platelets reinforced metal foams (GPLRMF) doubly curved shells have not been investigated in the existing works, this paper aims to solve this issue. Using Reddy's high-order shear deformation theory (HSDT), the nonlinear governing equations of GPLRMF doubly curved shells are obtained by Euler-Lagrange method, discretized by Galerkin principle, and solved by the fourth-order Runge-Kutta method to obtain the impact force and central deflection. The nonlinear Hertz contact law is applied to determine the contact force. Finally, the impacts of graphene platelets (GPLs) distribution pattern, porosity distribution form, porosity coefficient, damping coefficient, impact parameters (radius and initial velocity), GPLs weight fraction, pre-stressing force and different shell types on the low-velocity impact curves are analyzed. It can be found that, among the four shell structures, the impact resistance of spherical shell is the best, while that of cylindrical shell is the worst.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.147-154
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• 2021

One of the most challenging issues when robots interact with the environment is to establish contact quickly and avoid high impact force at the same time. The proposed method implements the passive suspension system using the redundancy of the torque-controlled robot. Instead of utilizing the actual mechanical compliance, the distal joints near the end-effector are controlled to act as a virtual spring-damper system with low feedback gains. The proximal joints are precisely controlled to push the mid-link, which is defined as the boundary link between the proximal and distal joints, towards the environment with high feedback gains. Compared to the active compliance methods, the contact force measurements or estimates are not required for contact establishment and the control time delay problems do not occur correspondingly. The proposed method was applied to the landing foot control of the 12-DoF biped robot DYROS-RED in the simulations. In the results, the impact force during landing was significantly reduced at the same collision speed.

• Proceeding of KASS Symposium
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• 2008.05a
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• pp.74-79
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• 2008

In this study, impact transient responses of (Graphite/Epoxy) laminated composite subjected to low-velocity impact are investigated using a finite element method. Dynamic von-Karman plate equations considering large deflection of plate are modified to include the effect of transverse shear deformations as in Mindlin plate theory and also the rotary inertia effect is considered. The convergence of transient responses is used contact law established through the statical indentation test. We investigate displacements, contact forces and strains by thickness variation of various laminated composite. We compare and analyze each results.