• Journal of KSNVE
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• v.9 no.2
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• pp.258-264
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• 1999

The purpose of this paper is to investigate the damping behavior of a flexible joint. The slip at a structrual joint is selected at the tips of two identical cantilever beams adjoining each other. Both the direction of normal force and its magnitude varies due to the global deformation of the structure from mode to mode in the friction model. The friction dependent on vibration displacements resultsin the same functional behavior of the hysteretic material damping. Linearized energy loss factors are obtained as functions of both linear and torsional spring stiffness for their groups of symmetric and anti-symmetric modes, respectively. Experimental measurements as made for comparisons with analytical estimations by controlling the magnitude of fastening torque in the fastener, Hi-Lite. Trends on damping levelsmeasured in a very common vibration test method make an excellent agreement on the estimated damping levels.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10a
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• pp.882-885
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• 1987

The path of an industrial manipulator in a crowded workspace generally consists of 8 set of Cartesian straight line path connecting a set of two adjacent points. To achieve the Cartesian straight line path is, however, a nontrivial task and an alternative approach is to place enough intermediate points along a desired path and linearly interpolate between these points in the joint space. A method is developed that determines the subtravelling- and the transition-time such that the total travelling time for this path is minimized subject to the maximum joint velocities and accelerations constraint. The method is based on the application of nonlinear programming technique, i.e., FTM (Flexible Tolerance Method). These results are simulated on a digital computer using a six-joint revolute manipulator to show their applications.

• Geomechanics and Engineering
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• v.30 no.4
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• pp.383-392
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• 2022

Although pipelines are composed of segmental tubes commonly connected by rubber gasket or push-in joints, current studies mainly simplified pipelines as continuous structures. Effects of joints on three-dimensional deformation mechanisms of existing pipelines due to tunnel excavation are not fully understood. By conducting three-dimensional numerical analyses, effects of pipeline burial depth, tunnel burial depth, volume loss, pipeline stiffness and joint stiffness on bending strain and joint rotation of existing pipelines are explored. By increasing pipeline burial depth or decreasing tunnel cover depth, tunneling-induced pipeline deformations are substantially increased. As tunnel volume loss varies from 0.5% to 3%, the maximum bending strains and joint rotation angles of discontinuous pipelines increase by 1.08 and 9.20 times, respectively. By increasing flexural stiffness of pipe segment, a dramatic increase in the maximum joint rotation angles is observed in discontinuous pipelines. Thus, the safety of existing discontinuous pipelines due to tunnel excavation is controlled by joint rotation rather than bending strain. By increasing joint stiffness ratio from 0.0 (i.e., completely flexible joints) to 1.0 (i.e., continuous pipelines), tunneling-induced maximum pipeline settlements decrease by 22.8%-34.7%. If a jointed pipeline is simplified as a continuous structure, tunneling-induced settlement is thus underestimated, but bending strain is grossly overestimated. Thus, joints should be directly simulated in the analysis of tunnel-soil-pipeline interaction.

• Clinics in Shoulder and Elbow
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• v.13 no.1
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• pp.72-78
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• 2010

Purpose: Too develop a flexible drill device that can be inserted into the shoulder joint so that arthroscopic transosseous suture repair for Bankart lesion is possible. Materials and Methods: We created a device composed of a flexible drill unit and a guide pipe unit. The flexible drill unit was made of flexible multifilament wires (1.2 mm in diameter) that was twisted into one cord so that it can flex in any direction and a drill bit (1.2 mm in diameter) that is attached onto one end of the flexible wire. The guide pipe unit was a 150 mm long metal pipe (2.0 mm in inner diameter and 3.0 mm in outer diameter), with one end bent to 30 degrees. The flexible drill set was inserted into the shoulder joint through the posterior portal of the joint. The guide pipe component was placed onto the medial wall of the glenoid so that the pipe was placed 5 mm posterior to the margin of the anterior glenoid rim. The flexible drill was driven through the glenoid by the power drill so that holes were made in the glenoid. A non- absorbable suture was passed through the hole. Tying of a sliding knot tying was accomplished over the capsule and labrum after making a stitch through the capsule and labrum with a suture hook loaded with suture passer. The same procedures were done at the 2 and 4 O'Clock positions of the glenoid. Results: Five cases with Bankart lesion received arthroscopic transosseous repair with our flexible drill device. There were no intraoperative problems. Neither redislocation nor subluxation was reported at final follow-up. Conclusion: Arthroscopic transosseous suture repair without suture anchors and easy tying of a sliding knot are possible with a flexible drill set.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.1
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• pp.70-81
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• 2017

Various components of an engine nozzle are modeled as flexible multi-body components that are operated under high temperature and pressure. In this paper, in order to predict complex behavior of an engine nozzle, thermo-fluid-flexible multi-body dynamics coupled analysis framework was developed. Temperature and pressure on the nozzle wall were obtained by the steady-state flow analysis for a two-dimensional nozzle. The pressure and temperature-dependent material properties were delivered to the flexible multi-body dynamics analysis. Then the deflection and strain distribution for a nozzle configuration was obtained. Heat conduction and thermal analyses were done using MSC.NASTRAN. The present framework was validated for a simple nozzle configuration by using a one-way coupled analysis. A two-way coupled analysis was also performed for the simple nozzle with an arbitrary joint clearance, and an asymmetric flow was observed. Finally, the total strain result for a realistic nozzle configuration was obtained using the one-way and two-way coupled analyses.

• Journal of the Korean Society for Precision Engineering
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• v.34 no.4
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• pp.243-246
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• 2017

In this study, flexible fixtures and end effectors are conceptually designed for the holding of thin-walled carbon-fiber reinforced-plastic (CFRP) workpieces in machining processes. Firstly, the fixture scenarios and system requirements for the conceptual designs of flexible-fixture and core units are proposed, including the propounding of the workpiece-holding mechanism and the core-unit requirements. A ball-joint pneumatic system is determined as a locking mechanism of the flexible-fixture system for the machining of thin-walled components. Secondly, conceptual designs of the core units are suggested with the driven requirements from the fixture scenarios. A self-tilting mechanism and an end-effector return mechanism are also proposed. Finally, the prototypes of the core units are manufactured, and the workpiece-holding capacity of each prototype is measured.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.12
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• pp.3883-3891
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• 1996

Performance and productivity of robot manipulator can be improved by increasing its working speed and extending its link length. But heavy weght of the commercial robot links, considered as "rigid body", limits its mazimum working speed and the weght of the links can be reduced for high speed operation. But this light-weight link or long link for special use cannot be consideredas "rigid" structure and vibration of the link due to its flexibility causes errors in end-effector position and orientation. Thus the elastic behaviro of the flexible link should be taken care of for increasing work speed and getting smaller error of end-effector position. In this paper, the fuzzy control theory is selected to design the controller which controlos the joint positions of the robot manipulator and suppress the vibration of flexible link. In the forst place, for the 1 DOF flexible link system, the fuzzy control theory is implemented. The contdroller for the 1 DOF flexible link system is designed. Experimental research is carried out to examine the controllability and the validity of the fuzzy control theory based controller. Next, using the extended desing schemes for the case of the 1 DOF flexible link system and usign the experimental phenomena of the 3 DOF flexible link system, the fuzzy controller for the 3 DOF flexible link system is desinged and experimented.ed and experimented.

• Journal of Biomedical Engineering Research
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• v.20 no.3
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• pp.315-321
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• 1999

The purpose of this study is to develop a mathematical model for system identification in order to predIct muscle force based on eledromyographic signal. Therefore, a finding of the relalionship between characteristics of electromyographic signal and the corre spondng muscle force should be necessiiry through dynamic, joint model. To develop the dynamic joint model, the upper limb mcludmg the wrist and elbow joint has been considered. The kinematic and dynamic data, such as joint angular displacement, velocity, deceleration along with the moment of inertla, required to establish the dynamic model has been obtained by electrical flexible goniometer which has two degree-of-frcedoms. ln this model, muscle force can be predicted only electromyographs through the relationship between the integrated lorce and the mtegrated electromyographic signal over the duration of muscle contraclion in this study.

• Geomechanics and Engineering
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• v.33 no.1
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• pp.101-112
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• 2023

When a submerged floating tunnel is connected to the ground, there is a risk of stress concentration at the shore connection owing to the displacement imbalance caused by low confinement pressures in water and high confinement pressures in the ground. Here, the effects of the boundary condition and stiffness of the joints installed at the shore connection on the behaviors of a submerged floating tunnel and its shore connection were analyzed using a numerical method. The analysis results obtained with fixed and ground boundaries were similar due to the high stiffness of the ground boundary. However, the stability of the shore connection was found to be improved with the ground boundary as a small displacement was allowed at the boundary. The effect of the joint stiffness was evaluated by investigating the dynamic behavior of the submerged floating tunnel, the magnitude of the load acting on the bored tunnel, and the stress distribution at the shore connection. A lower joint stiffness was found to correspond to more effective relief of the stress concentration at the shore connection. However, it was confirmed that joints with low stiffness also increase the submerged floating tunnel displacement and decrease the frequency of the dynamic behavior, causing a risk of increased resonance when wave loads with low frequency are applied. Therefore, it is necessary to derive the optimal joint stiffness that can achieve both stress concentration relief and resonance prevention during the design of shore connections to secure their dynamic stability.

• Structural Engineering and Mechanics
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• v.11 no.2
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• pp.133-149
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• 2001

A high-fidelity model of a tracked vehicle traversing a flexible ground terrain with a varying profile is presented here. In this work, we employed a recursive formulation to model the track subsystem. This method yields a minimal set of coordinates and hence, computationally more efficient than conventional approaches. Also, in the vehicle subsystem, the undercarriage frame is assumed to be connected to the chassis by a revolute joint and a spring-damper unit. This increase in system mobility makes the model more realistic. To capture the vehicle-ground interaction, a Winkler-type foundation with springs-dampers is used. Simulation runs of the integrated tracked vehicle system for vibrations for four varying ground profiles are provided.