• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.929-933
• /
• 2004

A robot manipulator is usually operated in two modes: free motion and constraint motion according to the fact whether the robot comes into contact with the environment or not. At the moment of contact, impact occurs, and sometimes, it can possibly degrade the robot's performance such as vibration and at worst, shortens its lifetime. In this article, a new proposed algorithm is described by introducing a command signal modification method on the basis of impedance control and a validity of the proposed algorithm is demonstrated by showing the simulation study.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.22 no.3
• /
• pp.519-528
• /
• 1998

A numerical method is presented for the dynamic analysis of cam and follower. Contact and separation between the cam and the follower are analyzed by imposing dynamic contact condition. The correct solution is obtained without spurious oscillation by imposing the velocity and acceleration constraints as well as the displacement constraint on the possible contact point. The constraints are satisfied by iteratively reducing the constraint errors toward zero, and a simple time integration of ordinary differential equation is employed for the solution of the equation of motion. The solution procedure associated with the iterative scheme is presented, and numerical simulations are conducted to demonstrate the accuracy of the solution.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.23 no.2
• /
• pp.109-117
• /
• 2014

This paper reports a method to modify the gear tooth profile of a wind turbine gearbox to reduce the noise caused by the impact of the gear teeth. The major causes of tooth impact are the elastic deformation of the gear teeth, shafts, and case of the gearbox under loading, and the fabrication tolerances in gear manufacturing. In this study, the tooth profile was modified considering the elastic deformation of the gear tooth and the tooth lead modification to compensate for tooth interference in the lead direction as a result of shaft deformations. The method was applied to the gearbox of a 2.5MW wind turbine, and the transmission error was characterized before and after modifying the gear teeth. For the modified gear teeth, the transmission error (67.6%) was lower by 17.8%. Additionally, the gear contact stress was reduced by 6.3%, to 22.3%.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.23 no.2
• /
• pp.89-97
• /
• 2003

Experimental model studies were carried out to evaluate the end condition for drilled shafts by applying elastic impact on the top of the shaft, which is one of the various methods using stress waves. Typical impact responses corresponding to the various end conditions including free, fixed, rock-socketed, and soft-bottom with good and poor side contact conditions, were investigated. In order to simulate these renditions, mock-up shaft models made of cement mortar were used. Small-scale laboratory experiments were also performed, and field tests were carried out for the shafts that were socketed into weathered rock. It is found that the rock-socketed condition and depth of penetration into rock ran be identified from the reflection at the interface between the soil and rock in the waveform. The soft bottom rendition can be identified, only when the side contact between shaft and surrounding rock is poor, whereas it cannot be identified when the side contact is good because the waveform is similar to that of fixed end rendition.

• Proceedings of the Korean Society For Composite Materials Conference
• /
• 2001.10a
• /
• pp.170-173
• /
• 2001

Low-velocity impact on composite sandwich panel has been investigated. For the study, a finite element program is coded using 18-node assumed strain solid element and Newmark-beta method. Contact force is calculated from a proposed modified contact low. The finite element code is verified by solving typical example. The calculated impact behavior agreed well with experimental result.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.14 no.2
• /
• pp.298-309
• /
• 1990

In this paper, a new method is suggested to analyze impulsive stresses at loading poing of concentrated impact load under certain impact conditions determined by impact velocity, stiffness of plate and mass of impact body, etc. The impulsive stresses are analyzed by using the three dimensional dynamic theory of elasticity so as to analytically clarify the generation phenomenon of cone crack at the impact fracture of fragile materials (to be discussed if the second paper). The Lagrange's plate theory and Hertz's law of contact theory are used for the analysis of impact load, and the approximate equation of impact load is suggested to analyze the impulsive stresses at the impact point to decide the ranage of impact load factor. When impact load factors are over and under 0.263, approximate equations are suggested to be F(t)=Aexp(-Bt)sinCt and F(t)=Aexp(-bt) {1-exp(Ct)} respectively. Also, the inverse Laplace transformation is done by using the F.F.T.(fast fourier transform) algorithm. And in order to clarity the validity of stress analysis method, experiments on strain fluctuation at impact point are performed on a supported square glass plate. Finally, these analytical results are shown to be in close agreement with experimental results.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2003.04a
• /
• pp.504-512
• /
• 2003

Simulation programs have been developed and used as an attempt to improve the accuracy of Non-Destructive Evaluation(NDE) techniques. The applicability of these programs is very limited, however, because it is difficult to describe the delicacy of the propagation of stress waves. To investigate the applicability of the finite element analysis for stress wave-based NDE techniques numerical simulation for Impact-Echo method and SASW method is performed. The numerical studies are performed to determine the essential parameters such as contact time of impact load, mesh size and time step size. These studies show that the choice of parameter is very important for improving the accuracy and confidence of the numerical procedure and, thereby, the applicability of the numerical analysis for stress wave-based NDE techniques

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.8
• /
• pp.955-960
• /
• 1999

This paper describes the effect of impact configurations on a single robot manipulator. The effect of different configurations of kinematically redundant arms on impact forces at their end effectors during contact with the environment is investigated. Instead of the well-known impact ellipsoid, I propose an analytic method on the geometric configuration of the impact directly from the mathematical definition. By calculating the length along the specified motion direction and volume of the geometry, we can determine the characteristics of robot configurations in terms of both the impact along the specified direction and the ability of the robot withstanding the impact. Simulations of various impact configurations are discussed at the end of this paper.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.17 no.12
• /
• pp.2982-2994
• /
• 1993

Low-velocity impact responses of composite laminates are investigated using the finite element method based on various theories. In two-dimensional nonlinear analysis, a displacement field considering higher order shear deformation and large deflection of the laminate is assumed and a finite element formulation is developed using a C$^{o}$-continuous 9-node plate element. Also, three-dimensional linear analysis based on the infinitesimal strain-displacement assumptions is performed using 8-node brick elements with incompatible modes. A modified Hertzian contact law is incorporated into the finite element program to evaluate the impact force. In the time integration, the Newmark constant acceleration algorithm is used in conjuction with successive iterations within each time step. Numerical results from static analysis as well as the impact response analysis are presented including impact force histories, deflections, strains in the laminate. Impact responses according to two typical low-velocity impact conditions are compared each other.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.5
• /
• pp.899-905
• /
• 2001

The damage behavior of soda-lime glass was studied due to a steel ball of 1mm and 2mm at oblique impact test. The thickness of glass specimen were 3mm and 5mm and oblique degrees of impact were 90$^{\circ}$,70$^{\circ}$ and 50$^{\circ}$. After the steel ball impact test, the crack patterns were investigated using a stereo-microscope. In addition, the finite element method was performed to analyze the stresses distribution and variation in the oblique impacted glass by steel ball. As a result of the impact test, the crack length of 90$^{\circ}$impacted glass was the largest and that of 50$^{\circ}$impacted glass was the smallest. In particular, as the impact velocity and diameter of the steel ball increased, the difference of crack length was prominent. The finite element analysis showed the maximum principle stresses distribution in contact area of glass specimen. The result of analysis was accorded with the crack growth behavior by the oblique impact test.