• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.35 no.11
• /
• pp.1391-1398
• /
• 2011

Biomechanical analysis of arm motion during steering was performed using a motion analysis technique. Three-dimensional position data for each part of arm are fed into an interactive model combining a musculoskeletal arm model and the mechanical steering system to calculate joint angles and torques using inverse kinematic and dynamic analyses, respectively. The analysis shows that elbow pronation/supination, wrist flexion/extension, shoulder adduction/abduction, and shoulder flexion/extension have significant magnitudes. Sensitivity analysis of the arm joint motion with respect to seating posture and steering wheel configuration is carried out to investigate the qualitative influence of the seating posture and driver's seat configuration on the steering behavior.

• Journal of Korean Institute of Industrial Engineers
• /
• v.11 no.1
• /
• pp.21-32
• /
• 1985

Presented in this paper is a procedure of developing graphical simulation software for planning robot welding processes. Welding is by far the highest application area for industrial robots, and it has been in great need of such a simulator in designing robot work cells, in justifying the economics of robot welding and in planning robotized welding operations. The model of a robot welding cell consists of four components: They are an welding structure which is a collection of plates to be welded, a positioner to hold the welding structure, a robot with a weld torch, and a set of welding lines (in case of arc welding). Welding structure is modeled by using the reference plane concept and is represented as boundary file which is widely used in solid modeling. Robot itself is modeled as a kinematic linkage system. Also included in the model are such technical constraints as weaving patterns and inclination allowances for each weld joint type. An interactive means is provided to input the welding structure and welding lines on a graphics terminal. Upon completion of input, the program displays the welding structure and welding lines and calculates the center of mass which is used in determining positioner configurations. For a given positioner and robot configuration, the welding line segments that can be covered by the robot are identified, enabling to calculate the robot weld ratio and cycle time. The program is written in FORTRAN for a VAX computer with a Tektronix 4114 graphic terminal.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.75-80
• /
• 2005

A design for the front section of an excavator requires kinematic and kinetic mechanism consideration for several configurations. Key parameters for an appropriate configuration can be obtained through a mechanical verification and numerical formulation with a design expert's know-how. In this paper, we propose a knowledge-based system with an expert-shell(CATIA) and Visual Basic to assist for the design of the front section of an excavator. The designers can achieve more efficient design through a CAD model, implemented design knowledge, and a user friendly interface. The implemented design knowledge is retrieved through the whole design process from an early design stage to a detailed design stage based on the multiple levels of abstraction scheme.

• Journal of Mechanical Science and Technology
• /
• v.19 no.3
• /
• pp.756-767
• /
• 2005

This paper presents a decentralized motion control method of welding mobile manipulators which use for welding in many industrial fields. Major requirements of welding robots are accuracy, robust, and reliability so that they can substitute for the welders in hazardous and worse environment. To do this, the manipulator has to take the torch tracking along a welding trajectory with a constant velocity and a constant heading angle, and the mobile-platform has to move to avoid the singularities of the manipulator. In this paper, we develop a kinematic model of the mobile-platform and the manipulator as two separate subsystems. With the idea that the manipulator can avoid the singularities by keeping its initial configuration in the welding process, the redundancy problem of system is solved by introducing the platform mobility to realize this idea. Two controllers for the mobile-platform and the manipulator were designed, respectively, and the relationships between two controllers are the velocities of two subsystems. Control laws are obtained based on the Lyapunov function to ensure the asymptotical stability of the system. The simulation and experimental results show the effectiveness of the proposed controllers.

• Structural Engineering and Mechanics
• /
• v.4 no.3
• /
• pp.257-276
• /
• 1996

In North America, a large number of concrete old slab-on-steel girder bridges, classified noncomposite, were built without any mechanic connections. The stablizing effect due to slab/girder interface contact and friction on the steel girders was totally neglected in practice. Experimental results indicate that this effect can lead to a significant underestimation of the load-carrying capacity of these bridges. In this paper, the two major components-concrete slab and steel girders, are treat as two deformable bodies in contact. A finite element procedure with considering the effect of friction and contact for the analysis of concrete slab-on-steel girder bridges is presented. The interface friction phenomenon and finite element formulation are described using an updated configuration under large deformations to account for the influence of any possible kinematic motions on the interface boundary conditions. The constitutive model for frictional contact are considered as slip work-dependent to account for the irreversible nature of friction forces and degradation of interface shear resistance. The proposed procedure is further validated by experimental bridge models.

• Progress in Superconductivity and Cryogenics
• /
• v.17 no.3
• /
• pp.51-56
• /
• 2015

Cryogenic cooling system for HTS electric power devices requires a reliable and efficient high-capacity cryocooler. A Striling cryocooler with a linear compressor can be a good candidate. It has advantages of low vibration and long maintenance cycle compared with a kinematic-driven Stirling cryocooler. In this study, we developed dual-opposed linear compressor of 12 kW electric input power with two 6 kW linear motors. Electrical performance of fabricated linear compressor is verified by experimental measurement of thrust constant. The developed Stirling cryocooler has gamma-type configuration. Piston and displacer are supported with flexure spring. A slit-type heat exchanger is adopted for cold and warm-end, and the generated heat is rejected by cooling water. In cooling performance test, waveforms of voltage, current, displacement and pressure are obtained and their amplitude and phase difference are analysed. Moreover, temperatures of cooling water, housing and linear motor are recorded and electric power parameters of driving circuit are also obtained. The developed Stirling cryocooler reaches to 47.8 K within 23.4 min. with no-load. From heat load tests, it shows cooling capacity of 440 W at 78.1 K with 6.45 kW of electric input power and 19.4 of % Carnot COP.

• 유체기계공업학회:학술대회논문집
• /
• 2000.12a
• /
• pp.145-152
• /
• 2000

A turbopump system composed of two pumps and one turbine is considered. The turbine composed of a nozzle and a rotor is used to drive the pumps while gas passes through the nozzle, potential energy is converted to kinematic energy, which forces the rotor blades to spin. In this study, an aerodynamic design of turbine system is investigated using compressible fluid dynamic theories with some pre-determined design requirements (i.e., pressure ratio, rotational speed, required power etc.) obtained from liquid rocket engine (L.R.E.) system design. For simplicity of turbine system, impulse-type rotor blades for open type L.R.E. have been chosen. Usually, the open-type turbine system requires low mass flow rate compared to close-type system. In this study, a partial admission nozzle Is adopted to maximize the efficiency of the open-type turbine system. A design methodology of turbine system has been introduced. Especially, partial admission nozzle has been designed by means of simple empirical correlations between efficiency and configuration of the nozzle. Finally, a turbine system design for a 10 ton thrust level of L.R.E is presented.

• Journal of Positioning, Navigation, and Timing
• /
• v.7 no.1
• /
• pp.43-52
• /
• 2018

In recent years, the need of high accuracy navigation for vehicles has increased due to the development of autonomous driving vehicles and increase in land transportation convenience. This study is performed for vehicle users to achieve a performance of centimeter-level positioning accuracy by utilizing Compact Network Real-time Kinematic (RTK) that is applicable as a national-level infrastructure. To this end, medium-baseline RTK was implemented in real time to estimate accurate integer ambiguities between reference stations for reliable generation of Network RTK correction using the linear combination of carrier-phase observations and L1/L2 pseudo-range measurements. The residual tropospheric error was estimated in real time to improve the accuracy of double-differenced integer ambiguity resolution between network configuration reference stations that have at least 30 km or longer baseline distance. In addition, C++ based software was developed to enable real-time generation and broadcasting of Compact Network RTK correction information by utilizing an accurately estimated double-differenced integer ambiguity values. As a result, the horizontal and vertical 95% accuracy was 2.5cm and 5.2cm, respectively, without performance degradation due to user's position change within the network.

• Coupled systems mechanics
• /
• v.2 no.1
• /
• pp.53-83
• /
• 2013

Sea waves induce significant pressures on coastal surfaces, especially on rocky vertical cliffs or breakwater structures (Peregrine 2003). In the present work, this hydrodynamic pressure is considered as the excitation acting on a piezoelectric material sheet, installed on a vertical cliff, and connected to an external electric circuit (on land). The whole hydro/piezo/electric system is modeled in the context of linear wave theory. The piezoelectric elements are assumed to be small plates, possibly of stack configuration, under a specific wiring. They are connected with an external circuit, modeled by a complex impedance, as usually happens in preliminary studies (Liang and Liao 2011). The piezoelectric elements are subjected to thickness-mode vibrations under the influence of incident harmonic water waves. Full, kinematic and dynamic, coupling is implemented along the water-solid interface, using propagation and evanescent modes (Athanassoulis and Belibassakis 1999). For most energetically interesting conditions the long-wave theory is valid, making the effect of evanescent modes negligible, and permitting us to calculate a closed-form solution for the efficiency of the energy harvesting system. It is found that the efficiency is dependent on two dimensionless hydro/piezo/electric parameters, and may become significant (as high as 30 - 50%) for appropriate combinations of parameter values, which, however, corresponds to exotically flexible piezoelectric materials. The existence or the possibility of constructing such kind of materials formulates a question to material scientists.

• Smart Structures and Systems
• /
• v.26 no.2
• /
• pp.213-226
• /
• 2020

In this manuscript, static and dynamic behaviors of geometrically imperfect carbon nanotubes (CNTs) subject to different types of end conditions are investigated. The Doublet Mechanics (DM) theory, which is length scale dependent theory, is used in the analysis. The Euler-Bernoulli kinematic and nonlinear mid-plane stretching effect are considered through analysis. The governing equation of imperfect CNTs is a sixth order nonlinear integro-partial-differential equation. The buckling problem is discretized via the differential-integral-quadrature method (DIQM) and then it is solved using Newton's method. The equation of linear vibration problem is discretized using DIQM and then solved as a linear eigenvalue problem to get natural frequencies and corresponding mode shapes. The DIQM results are compared with analytical ones available in the literature and excellent agreement is obtained. The numerical results are depicted to illustrate the influence of length scale parameter, imperfection amplitude and shear foundation constant on critical buckling load, post-buckling configuration and linear vibration behavior. The current model is effective in designing of NEMS, nano-sensor and nano-actuator manufactured by CNTs.