• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.887-898
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• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2022-2026
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• 2003

We define that the end effector is the device which interact environment or objects with contact to execute tasks. Up to now, many researchers developed anthropomorphic robotic hands as end effectors. In this paper, we will discuss a problem on the development of a human-scale and motor-driven anthropomorphic robot hand. In this paper, design concept, actuator and transmission, kinematic design and sensing device are presented. By imitating the physiology of human hands, we devised new metacarpalphalangeal joint and interphalangeal joint suitable for human-size robot hands

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2002년도 추계학술대회논문초록집
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• pp.337.2-337
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• 2002

When vehicle travelling along the track which has irregularity such as vortical profile, dynamic forces arise at the Wheel/Rail contact patch by wheel/rail interaction. In particular short wavelength irregularities on dipped joint and small stiffness of connecting rail bring about intense wheel/rail dynamic effects at higher speed. In the paper, a new model for dipped joint rail is developed to study dynamic behavior of track. (omitted)

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2010년도 추계학술대회 논문집
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• pp.651-652
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• 2010

• 한국전기전자재료학회논문지
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• 제14권6호
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• pp.511-517
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• 2001

We evaluated the electrical properties of 37 multifilamentary jointed tapes processed by superconducting joint. In the superconducting joining method, a lap-joint was used. Tapes were selectively etched, and exposed superconducting cores of the two tapes were brought into contact with each other and then only the joined region was uniaxially pressed in the range of 1,000 to 2,50 MPa. The critical current ratio(CCR) and n-value of the jointed tape were evaluated as a function of uniaxial pressure and number of step in the contacting region. It was observed that the CCR was dependent on the number of step, but almost independent of uniaxial pressure. The highest critical current ratio and n-value were obtained to be 58% and 26%, respectively, for the jointed tape to the tape itself.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2002년도 춘계학술발표대회 논문집
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• pp.9-12
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• 2002

A parametric study has been conducted to investigate the effect of the geometry on the strength of an unidirectional and fabric hybrid laminated composite joint. Tests are conducted for the specimens with nine different edge-to-hole diameter or width-to-hole diameter ratios. For the finite element analysis, the characteristic length method is used, and the tests for determining the characteristic length are performed additionally. Nonlinear contact problem between the pin and laminate is modeled by the gap element in MSC/NASTRAN. Tsai-Wu failure criteria is applied to the stress on the characteristic curve. The finite element and experimental results shows good agreement in strength of composite joint. Results of the parametric study shows the effect of the geometry is remarkable in the specimens with width-to-hole diameter ratio less than 2.8 and edge-to-hole diameter ratio less than 1.4.

• 한국항공운항학회지
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• 제19권4호
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• pp.12-17
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• 2011

This paper gives a review of finite element model for the analysis of fastening as practical points of view. Different mechanical properties of plate-fastener systems are analyzed. Calculations of the system properties are described as well as the technique of their application in model. Analysis has been performed for calculating the load distribution in multi-joint and the results are compared using the several models. The effects of fastener-hole clearance on the load distribution in multifastener joints are presented. And the stress analysis method have been reviewed for failure analysis of mechanical joint of composite laminate.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.72-75
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• 2001

In this paper, the kinematic model and motion control of a joint-actuated mobile robot are analyzed. To take an efficient approach to the wheeled mobile robots, the relationship between wheel rotation and the contact point of the wheel is considered. It is shown that each addition of a joint to a mobile robot increases the degree of freedom(DOF) of mobile robot, and the way of joint attachment to a mobile robot is proposed. To get a solution of inverse kinematics of mobile robot, two types of approaches are proposed.

• Structural Engineering and Mechanics
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• 제46권6호
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• pp.843-852
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• 2013

This paper presents results of the effect of different bolt tightening sequences and methods on the performance of gasketed bolted flange joint using nonlinear finite element analysis. Bolt preload scatter due to elastic interactions, flange stress variation and bolt bending due to flange rotation and gasket contact stress variation is difficult to eliminate in torque control method i.e. tightening one bolt at a time. Although stretch control method (tightening more than one bolt at time) eradicates the bolt preload scatter, flange stress variation is relatively high. Flange joint's performance is compared to establish relative merits and demerits of both the methods and different bolt tightening sequences.

• 한국마이크로전자및패키징학회:학술대회논문집
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• 한국마이크로전자및패키징학회 2002년도 춘계 기술심포지움 논문집
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• pp.247-251
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• 2002

In this paper the maximum current carrying capability of ACAs flip chip joint is investigated based on two failure mechanisms: (1) degradation of the interface between gold stud bumps and aluminum pads; and (2) ACA swelling between chips and substrates under high current stress. For the determination of the maximum allowable current, bias stressing was applied to ACAs flip chip joint. The current level at which current carrying capability is saturated is defined as the maximum allowable current. The degradation mechanism under high current stress was studied by in-situ monitoring of gold stud bump-aluminum pad ACA contact resistance and also ACA junction temperature at various current level. The cumulative failure distributions were used to predict the lifetime of ACAs flip chip joint under high current stressing. These experimental results can be used to better understand and to improve the current carrying capability of ACA flip chip joint.