• 한국지반공학회논문집
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• 제36권12호
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• pp.125-132
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• 2020

암반내의 절리는 암반의 전체적인 역학적 거동에 중요한 역할을 한다. 암반에 대한 수치해석은 절리면의 역학적 물성, 방향성, 간격 그리고 연속성을 정교하게 모델링할수 있어야 한다. 본 논문의 내재적 절리-연속체 접근법은 절리군을 포함한 암반의 역학적 모델을 제시한다. 암반에 대한 강성 텐서는 온전한 암석과 절리군의 역학적 특성으로부터 산정하였다. 이는 온전한 암석과 절리군에 대한 연속적 강성 시스템의 컴플라이언스 텐서 합으로부터 산정할 수 있다. 암반사면의 평면파괴에 대한 수치해석은 기존의 daylight envelope과 측면한계를 적용하는 경험적인 방법과 상당히 일치함을 확인하였다. 개발된 내재적 절리-연속체 모델은 연속체 기반으로 수식화되어 기존의 절리에 대한 열-수리-화학적 실험적 결과들을 실제 수치해석에 적용할수 있을 것이다.

• 한국해양공학회지
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• 제23권6호
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• pp.124-130
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• 2009

This study presents a finite element simulation of elastic waves for detecting anti-symmetric damages in an adhesively-bonded single lap joint. Plane strain elements were used for modeling adherents (aluminum) and adhesives (epoxy). Three types of damage were introduced: thickness reduction, elasticity deterioration, and voids in the adhesive layers, and two excitation and reception arrangements (ER1 and ER2) were used to investigate the detectability of the damage. The simulation showed that symmetrically located damage, such as a thickness reduction, can be detected by one excitation and one reception arrangement (ER1) and anti-symmetric damages, such as elasticity deterioration and voids, can be detected by modified two-point elastic wave excitation (ER2). Compared with the ER1 arrangement, the ER2 arrangement does not require a baseline signal for damage detection; hence, an efficient method of anti-symmetric damage detection in an adhesively-bonded single lap joint is proposed.

• 대한기계학회논문집
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• 제18권12호
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• pp.3109-3117
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• 1994

To operate a flexible mechanism in high speed its weight must be reduced as far as the structural strength does not decrease too much, but a light-weighted mechanism causes undesirable elastodynamic responses deteriorating the system performance. Besides, clearance within the connections of mechanisms causes rapid wear, increased noise and vibration. Even if the problems described above must be considered in the initial design stage, there has been no effective design process which takes account of the correlation between dynamic characteristics of flexible mechanism and the clearance effect at the joint. In this study, the generalized elastodynamic governing equations which include dynamic characteristics and boundary conditions of flexible mechanism are derived by variational calculus and solved by using FFM theory. To take the clearance effect at joint into account a new dynamic model is presented and also the method of modified stiffness/damping matrix is proposed to activate the dynamic clearance model, which cooperates with the developed governing equation very easily. As the results of this study, the proposed method(modified stiffness/damping matrix) to calculate clearance effect was proved to be superior to the existing one(force reaction method) in solution convergency and calculation performance. Besides this method can be easily adopted to the complex shape joint without calculation of reaction force direction.

• International Journal of Control, Automation, and Systems
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• 제5권5호
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• pp.559-569
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• 2007

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the complex computation of the Jacobian matrix of joint angles with end-effector coordinate. So with less computation, our controller is easier to implement, and a shorter sampling period can be achieved, which makes the controller more suitable for high-speed motion control. Furthermore, with the combination of static friction model and viscous friction model, the active joint friction of the parallel manipulator is studied and compensated in the controller. Based on the dynamic parameters of the parallel manipulator evaluated by direct measurement and identification, motion control experiments are implemented. With the experiments, the validity of the dynamic model is proved and the performance of the controller is evaluated. Experiment results show that, with forward dynamic compensation, the augmented PD controller can improve the tracking performance of the parallel manipulator over the simple PD controller.

• 한국산학기술학회논문지
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• 제15권8호
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• pp.4769-4775
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• 2014

본 논문은 다관절 붐의 선단이 구조물과 충돌할 때 발생하는 각 붐의 동응력에 대해서 논하고자 한다. CATIA를 이용하여 3D 모델을 작성하고, ADAMS와 ANSYS를 이용하여 메쉬작업을 수행 후 응력데이터를 포함한 다관절 붐의 MNF를 만든다. 이 두가지 모델을 가지고 ADAMS에서 FFT해석을 수행하여 각각 모델의 타당성을 알아본다. ADAMS에서 타당성이 검증된 모델을 이용하여 붐 선단의 충돌해석에 따른 동특성 해석을 수행한다. ADAMS Durability를 이용하여 다관절 붐과 구조물의 충돌시 각 붐에 응력이 크게 발생하는 지점을 알아보고자 한다.

• 로봇학회논문지
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• 제9권1호
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• pp.67-77
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• 2014

An electric motor is the one of the most important parts in robot systems, which mainly drives the wheel of mobile robots or the joint of manipulators. According to the requirement of motor performance, the controller type and parameters vary. For the wheel driving motors, a speed tracking controller is used, while a position tracking controller is required for the joint driving motors. Moreover, if the mechanical parameters are changed or a different motor is used, we might have to tune again the controller parameters. However, for the beginners who are not familiar about the controller design, it is hard to design pertinently. In this paper, we develop a nominal robust controller model for the velocity tracking of wheel driving motors and the position tracking of joint driving motors based on the disturbance observer (DOB) which can reject disturbances, modeling errors, and dynamic parameter variations, and propose the methodology for the determining the least control parameters. The proposed control system enables the beginners to easily construct a controller for the newly designed robot system. The purpose of this paper is not to develop a new controller theory, but to increase the user-friendliness. Finally, simulation and experimental verification have performed through the actual wheel and joint driving motors.

• Smart Structures and Systems
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• 제22권4호
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• pp.459-468
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• 2018

In this paper, the effect of non-persistent joints was determined on the behavior of concrete specimens subjected to biaxial loading through numerical modeling using particle flow code in two dimensions (PFC2D). Firstly, a numerical model was calibrated by uniaxial, Brazilian and triaxial experimental results to ensure the conformity of the simulated numerical model's response. Secondly, sixteen rectangular models with dimension of 100 mm by 100 mm were developed. Each model contains two non-persistent joints with lengths of 40 mm and 20 mm, respectively. The angularity of the larger joint changes from $30^{\circ}$ to $90^{\circ}$. In each configuration, the small joint angularity changes from $0^{\circ}$ to $90^{\circ}$ in $30^{\circ}$ increments. All of the models were under confining stress of 1 MPa. By using of the biaxial test configuration, the failure process was visually observed. Discrete element simulations demonstrated that macro shear fractures in models are because of microscopic tensile breakage of a large number of bonded discs. The failure pattern in Rock Bridge is mostly affected by joint overlapping whereas the biaxial strength is closely related to the failure pattern.

• Structural Engineering and Mechanics
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• 제89권1호
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• pp.61-75
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• 2024

Strengthening of hollow structural sections using through-bolts is a cost-effective and straightforward approach. It's a versatile method that can be applied during both design and service phases, serving as a non-disruptive and budget-friendly retrofitting solution. Existing research on axially loaded hollow sections T-joints has demonstrated that this technique can amplify the joint strength by 50%, where single bolt could enhance the strength of the joint by 35%. However, there's a gap in understanding their use for K-joints. As the behavior of K-joints is more complex, and they are widely existent in structures, this study aims to bridge that gap by conducting comprehensive parametric study using finite element analysis. Numerical investigation was conducted to evaluate the effect of through bolts on K-joints focusing on using single through bolt to achieve most of the strengthening effect. A full-scale parametric model was developed to investigate the effect of various geometric parameters of the joint. This study concluded the existence of optimal bolt location to achieve the highest strength gain for the joint. Moreover, a rigorous statistical analysis was conducted on the data to propose design equations to predict optimal bolt location and the corresponding strength gain implementing the verified by finite element models.

• Journal of Mechanical Science and Technology
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• 제18권8호
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• pp.1479-1489
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• 2004

The effect of fluctuation of Equivalence Ratio (ER) in a turbulent reactive field has been studied in order to check the global combustion characteristics induced by the local fluctuation. When the flow is premixed on a large scale, closer examination on a small scale reveals that local fluctuations of ER exist in an imperfectly premixed mixture, and that these fluctuations must be considered to correctly estimate the mean reaction rate. The fluctuation effect is analyzed with DNS by considering the joint PDF of reactive scalar and ER, followed by modeling study where an extension of stochastic mixing models accounting for the ER fluctuation is reviewed and tested. It was found that models prediction capability as well as its potential is in favor to this case accounting the local ER fluctuation. However, the effect of local fluctuation did not show any notable changes on the mean global characteristics of combustion when statistical independence between the reactive scalar and ER field is imposed, though it greatly influenced the joint PDF distribution. The importance of taking into account the statistical dependency between ER and combustible at the initial phase is demonstrated by testing the modeled reaction rate.

• 한국정밀공학회지
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• 제33권3호
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• pp.173-181
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• 2016

This paper reports on the development of a roller-cam clutch mechanism. This mechanism can transfer bidirectional torque with high backdrivability, as well as increase actuation energy efficiency, in electrical exoskeleton robots. The developed mechanism was installed at the robot knee joint and unclutched during the swing phase which uses less metabolic energy, thereby functioning as a passive joint. The roller-cam clutch aimed to increase actuation energy efficiency while also producing high backdrivability by generating zero impedance for users during the swing phase. To develop the mechanism, mathematical modeling of the roller-cam clutch was conducted, with the design having more than three safety factors following optimization. Titanium (Ti-6AL-4V) material was used. Finally, modeling verification was done using ANSYS software.