• Proceedings of the KSME Conference
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• 2004.04a
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• pp.810-815
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• 2004

In this paper, we propose new parallel mechanism of a 3 dimensional biped robot whose each leg is composed of two 3-dof parallel platforms linked serially. This proposed parallel mechanism is able to move freely in the man-made environment and is applied to various fields, such as medical, welfare, and so on. And a total weight of each leg is expected to be lighter than serial linked leg. One side leg consists of a 3-dof orientation platform and 3-dof asymmetric parallel platform. The former consists of three active linear actuators and seven passive joints, and the latter of two active linear actuators, one active rotational actuator and eight passive joints. Thus, there are two kinds of parallel platforms each chain's elements and active joint's positions are different for the biped robot to move freely like a serial link without the kinematics constraints. The effectiveness and the performance of the proposed parallel mechanism and locomotion trajectory are shown in computer simulations with a 12-DOF parallel biped robot.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.5
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• pp.118-123
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• 2001

Most structures of automobile are composed of many substructures connected to one another by various types of mechanical joints. In automotive engineering, it is important to study these connected structures under various dynamic farces for the evaluations of fatigue life and stress concentration exactly. It is rarely obtained the accurate load history of specified positions because of the errors such as modeling, measurement, and etc. In the beginning of design, exact load data are actually necessary for the fatigue strength and life analysis to minimize the cost and time of designing. In this paper, the procedure of practical dynamic load determination is developed by the combination of the principal stresses of F.E. analysis and experiment. Inverse problem and least square pseudo inverse matrix are adopted to obtain an inverse matrix of analyzed stresses matrix. Pseudo-Practical dynamic load was calculated for Lab. Test of sub-structure. GUI program(PLODAS) was developed for whole of above procedure. This proposed method could be extended to any geometric shape of structure.

• Journal of the Society of Naval Architects of Korea
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• v.44 no.5
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• pp.482-487
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• 2007

The container mobilization of material resources has increased continually owing to international economy growth and overseas trade increase in recent years. There are large amounts of order received for container carriers which are the biggest in the world ranging from 8,000 TEU to 10,000 TEU or above The very large container carriers have minimum thickness of sheer strake, upper deck and hatch coaming about $65mm{\sim}90mm$. Therefore, this study is performed in order to develop vertical welding process with high deposition rates applicable to thick plate above 65mm thickness. Electrogas welding process with 1 pole and 2 poles has been developed to apply to vertical joint with thick plates in the shipyard. In this paper, it was explained that the relationship of cross section to various groove types and executed that electrogas welding for thick plates. The mechanical tests were carried out to verify the soundness and effectiveness of EGW.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.12
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• pp.1220-1230
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• 2006

In this paper, we propose a flew technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for a dual arm robot manipulator with eight joints. joint space and cartesian space.

• Steel and Composite Structures
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• v.20 no.2
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• pp.267-293
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• 2016

It is well known that, in order to accurately predict the behaviour of steel structures a requirement the definition of the mechanical behaviour of beam-to column joints is of primary importance. This goal can be achieved by means of the so-called component method, which, in order to obtain the whole behaviour of connections, provides to break up joints in basic components of deformability and resistance. One of the main joint components used to model bolted connections is the so-called equivalent T-stub in tension, which is normally used to predict the behaviour of bolted plates in bending starting from the behaviour of the single bolt rows. In past decades, significant research efforts have been devoted to the prediction of the behaviour of bolted T-stubs but, to date, no particular attention has been devoted to the characterization of their plastic deformation capacity. To this scope, the work presented in this paper, taking into account the existing technical literature, proposes a new theoretical model for predicting the whole behaviour up to failure of bolted T-stubs under monotonic loading conditions, including some complexities, such as the bolt/plate compatibility requirement and the bolt fracture, which are necessary to accurately evaluate the ultimate displacement. After presenting the advances of the proposed approach, a comparison between theoretical and experimental results is provided in order to verify its accuracy.

• Steel and Composite Structures
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• v.11 no.4
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• pp.291-305
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• 2011

The new structure consisting of continuous compound spiral hoop reinforced concrete (CCSHRC)column and steel concrete composite (SCC) beam has both the advantages of steel structures and concrete structures. Two types of beam-to-column connections applied in this structural system are presented in this paper. The connection details are as follows: the main bars in beam concrete pass through the core zone for both types of connections. For connecting bar connection, the steel I-beam webs are connected by bolts to a steel plate passing through the joint while the top and bottom flanges of the beams are connected by four straight and two X-shaped bars. For bolted end-plate connection, the steel I-beam webs are connected by stiffened extended end-plates and eight long shank bolts passing through the core zone. In order to study the seismic behaviour and failure mechanisms of the connections, quasi-static tests were conducted on both types of full-scale connection subassemblies and core zone specimens. The load-drift hysteresis loops show a plateau for the connecting bar connection while they are excellent plump for bolted end-plate connection. The shear capacity formulas of both types of connections are presented and the values calculated by the formula agree well with the test results.

• Transactions of the Korean hydrogen and new energy society
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• v.27 no.3
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• pp.306-310
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• 2016

In Na-base Battery for ESS, ${\alpha}-Al_2O_3$ and metal bonding was used to prevent direct reaction between electrolyte and electrode. The hard metal was metalized at $1600^{\circ}C$ in a flowing hydrogen gas for high bonding strength. In this study, instead of hard metal metalizing, Ni was plated on ${\alpha}-Al_2O_3$ by electroless Ni plating technique and then bonded with metal. To enhance the bonding strength, surface of ${\alpha}-Al_2O_3$ was treated with $H_3PO_4$. The effects of strength and leakage of joining as a function of acid treatment time on ${\alpha}-Al_2O_3$ are described.

• Journal of the Korean Society of Safety
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• v.19 no.1
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• pp.12-17
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• 2004

By using an experimental approach recently developed to determine the torque-tension relationship for bearing frictional characteristics of several typical bolted joints were studied. The experimental approach allows the direct determination of the bearing friction between the nut and its bearing surface. Detailed friction studies were made on the influences of the size and shape of the hole, the use of a slot in a bolted joint, contact area and position, and other factors such as turning speed, coating, and the use of wax on the bearing surface. The contact area and position of the washer have a marginal effect on the bearing friction. The organic coating on the nuts reduces the bearing friction significantly. Nuts with organic coating over a washer with zinc finish provide the smallest and the most consistent bearing friction. The results from the experimental investigation will be helpful for the better design of bolted joints bearing friction. The results from the experimental investigation Will be helpful for the better design of bolted joints.

• Journal of Korean Society of Steel Construction
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• v.10 no.1 s.34
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• pp.101-113
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• 1998

In this study, we research the influence of butt-welded joints in high tension bolted joints on the static and fatigue strength. As a results, if it's located inside or outside of the friction surface, the fatigue strength decrease, and the decrease of fatigue strength is greater in cases that the butt-welded joints exist outside of the friction surface. But the influence of butt-welded joint on the fatigue strength satisfies category B of the Specifications.

• Journal of Welding and Joining
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• v.26 no.5
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• pp.66-73
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• 2008

Welding work in pre-erection or erection stage of shipbuilding construction to be carried out in flat and vertical upward position mostly and Electrogas welding(EGW) is actively applied especially for vertical butt joint of thicker steel plate recently. In this study considered how to develope and improve mechanical properties of weld metal and HAZ in high heat input welding processes such as EGW and Electroslag welding(ESW) with its welding equipment in order to extend the application range to the longitudinal members and hatch coaming parts of container ship. Some components of welding system and parameters were modified to get the faster travel speed and reduce weld heat input, and also by adding additional filler rods or tubes increase the amount of deposited weld metal. With the test get some good date can apply to actual fabrication work and recommend items to manufacture welding materials make better. Above all things it's a fruition that to prepare the possibility of application of ESW to shipbuilding construction which fill up the gap of stoppage days of more than 20 years.