• 제어로봇시스템학회논문지
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• 제22권10호
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• pp.817-825
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• 2016

In this paper, we introduce a flexible gripper that we have engineered to precisely pinch in parallel and compliantly grasp objects. As found in most conventional industrial grippers, the parallel pinching property is essential for precise manipulation. On the other hand, the grippers with a flexible structure are more adept at grasping objects with arbitrary shapes and softness. To achieve these disparate properties, we introduce a flexible gripper mechanism composed of multiple flexible beam structures. Utilizing these beam structures, the proposed gripper is able to grasp arbitrarily shaped objects. Additionally, a unique combination of flexible beams enables the gripper to pinch objects using the parallel fingertips for enhanced precision. A detailed description of the proposed mechanism is provided, and an analysis of the strength and stiffness of the fingertip and finger body is presented. The Results section compares the theoretical and experimental analyses and verifies the properties and performance of the proposed gripper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.559-564
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• 1993

Nonlinear equation of motion of the flexible manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equations of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to high order. A manipulator with a flexible 4 bar link mechanism is a constrained system whose equations are sensitive to numerical integration error. This constrained system is solved using the null space matrix of the constraint Jacobian matrix. Singular value decomposition is a stable algorithm to find the null space matrix.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.5-5
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• 2000

Some of Spacecraft's structures are flexible so that a certain expected disturbance can easily excite a low frequency vibration on these structures, having very low natural damping. Such vibration will degrade the performance of the system, which should to be kept in a specific shape or attitude against the undesired vibration, In this paper, LQG/LTR controller is developed using an additional dynamic model to increase the performance of the frequency responses at low frequency area,

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2008년도 추계 학술발표회
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• pp.1526-1531
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• 2008

The objective of this study is to evaluate the loading capacity of lattice girder according to loading position. 3-point flexible strength tests were performed on three types of lattice girder, such as LG-$50{\times}20{\times}30$, LG-$70{\times}20{\times}30$, and LG-$95{\times}22{\times}32$, mainly used in Korea. Two types of loading position for each flexible strength test were used to analyze the behavior of load-deformation. In 3-point flexible strength test, the difference of the average of maximum flexible strength according to loading position had the range from 10% to 33%.

• Earthquakes and Structures
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• 제14권5호
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• pp.411-424
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• 2018

This study explores the inelastic behavior of systems with flexible base. The use of a single degree of freedom system (ESDOF) with equivalent ductility to represent the response of flexible base systems is discussed. Two different equations to compute equivalent ductility are proposed, one which includes the contribution of rigid body components, and other based on the overstrength of the structure. In order to asses the accuracy of ESDOF approach with the proposed equations, the behavior of a 10-story regular building with reinforced concrete (RC) moment resisting frames is studied. Local and global ductility capacity and demands are used to study the modifications introduced by base flexibility. Three soil types are considered with shear wave velocities of 70, 100 and 250 m/s. Soil-foundation stiffness is included with a set of springs on the base (impedance functions). Capacity curves of the building are computed with pushover analysis. In addition, non linear time history analysis are used to asses the ductility demands. Results show that ductility capacity of the soil-structure system including rigid body components is reduced. Base flexibility does not modify neither yield and maximum base shear. Equivalent ductility estimated with the proposed equations is fits better the results of the numerical model than the one considering elastoplastic behavior. Modification of beams ductility demand due to base flexibility are not constant within the structure. Some elements experience reduced ductility demands while other elements experience increments when flexible base is considered. Soil structure interaction produces changes in the relation between yield strength reduction factor and structure ductility demand. These changes are dependent on the spectral shape and the period of the system with fixed and flexible base.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.789-790
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• 2011

• 한국소음진동공학회논문집
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• 제19권4호
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• pp.400-408
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• 2009

이 논문에서는 제어 가능한 ER 마운트를 이용한 유연 구조물의 진동제어 성능을 실험적으로 고찰하였다. 압착 모드형 ER 마운트를 설계하고, 전기장 인가에 따른 댐핑력 특성을 실험적으로 평가하였다. 제작된 ER 마운트를 빔과 프레임 형태의 유연 구조물에 적용하였고, 최적 제어기를 사용하여 시간 영역과 주파수 영역에서 진동제어 성능을 평가하였다.

• Structural Engineering and Mechanics
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• 제41권5호
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• pp.675-689
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• 2012

Most connections of steel structures exhibit flexible behaviour under cyclic loading. The flexible connections can be assumed as nonlinear rotational springs attached to the ends of each beam. The nonlinear behaviour of the connections can be considered by suitable moment-rotation relationship. Time-history analysis by direct integration method can be used as a powerful technique to determine the nonlinear dynamic response of the structure. In conventional numerical integration, the response is evaluated for a series of short time increments. The limitations on the size of time intervals can be removed by using Chen and Robinson improved time history analysis method, in which the integrated displacements are used as the new variables in integrated equation of motion. The proposed method permits longer time intervals and reduces the computational works. In this paper the nonlinearity behaviour of the structure is summarized on the connections, and the step by step improved time-history analysis is used to calculate the dynamic response of the structure. Several numerical calculations which indicate the applicability and advantages of the proposed methodology are presented. These calculations illustrate the importance of the effect of the nonlinear behaviour of the flexible connections in the calculation of the dynamic response of steel frames.

• 소성∙가공
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• 제22권4호
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• pp.196-203
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• 2013

Flexible stretch forming is an appropriate process for manufacturing of components for aerospace, shipbuilding and architecture structures. Flexible stretch forming has several advantages including that it could be applied to form various shapes such as ones with double curved surfaces. In this study, a systematic numerical simulation was conducted for forming double curved surfaces using flexible stretch forming. The desired surface had a saddle type configuration. It had two radii one of 2500mm and the other of 2000mm along its length and width. In the simulation, the decrease of elastic recovery due to the stretching was confirmed. Experiments were also conducted to confirm the viability of the process. By comparing the simulation to the experiment results, the suitability of flexible stretch forming for double curved surfaces was verified. From the results, the maximum error from desired surface was confirmed at about 1.3mm at the edge of the surface. Hence, it is confirmed that flexible stretch forming has the capability and feasibility to manufacture curved surfaces for architectural skin-structures of buildings.

• 한국주거학회논문집
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• 제17권6호
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• pp.129-140
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• 2006

The study suggests that to compensate for the variety of inhabitants, flexible housing plans are needed. Furthermore, it proposes the support and infill system for the flexible plan of multi-family housing based on the inhabitants need. The inhabitants' need for the flexible plan of multi-family housing was studied using a survey using models. The survey target was the 100 housewives living in a $126.6m^2$(sold as 45 Pyeong) Apartment in Busan. The characteristics of the respondents were first examined, then to figure out the attitude towards the need for the flexible plan of multi-family housing, the concept and preference for the plan, and the satisfaction level of the current apartment plan were analyzed. To find out the structure of the flexible plan of multi-family housing, the need for the structure, furniture, light, and finishing materials were studied. Lastly, to learn the durability of the construction material, the preferred moving period and the reasons were researched. On the basis of the findings, the support and infill system was suggested.