• Journal of the Korean Society for Precision Engineering
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• v.28 no.11
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• pp.1272-1278
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• 2011

Mechanisms of the robot system should be developed according to the task. In this study, we propose improving adaptability of the robot mechanism with the modularized joint mechanism. Adaptability is the measure of the system ability to cope with change or uncertainty. Modular type joint has been widely used in development of various robots including reconfigurable robots. To build robotic systems more flexibly and quickly with low costs of manufacturing and maintenance, we have designed a modular type joint with one degree of freedom for general purpose. This module is designed to be compact, light-weight and self-controlled. In this design, we consider the kinematics and dynamics properties of the modular type joint.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.337-338
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• 2010

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.163-171
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• 2016

A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.

• Journal of the Korea institute for structural maintenance and inspection
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• v.16 no.5
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• pp.98-111
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• 2012

In this study, a longitudinal joint connection was proposed for the short-span slab-type precast modular bridges with rapid construction. The slab-type modular bridge consists of a number of precast slab modules and has the joint connection between the modules in the longitudinal direction of the bridge. The finite element based parameter analysis and the push-out test were conducted to design the shape and the dimensions of the longitudinal joint connection. Number of shear keys within the joint, height and depth of the shear key, tooth angle, and the spacing were considered as the design parameters. Using the local cracking load obtained from the analytical and experimental results, an efficiency factor was proposed to evaluate the effectiveness of the longitudinal joint connection. The dimensions of shear key were determined by comparing the efficiency factors.

• Journal of Korean Association for Spatial Structures
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• v.8 no.1
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• pp.89-97
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• 2008

The object of this paper is to evaluate on behavior the experimentally of beam-to-column joints for modular steel frame with the hollow structural steel section to LEB C-shape. Beam-to-column joints carried out test on the joint shape bracket-type and welded-type to consideration which the joints for modular steel frame was capacity, deformation and failure mode. Test of results, the beam-column joints decided to the lateral buckling strength in LEB C-shape regardless of joint-shape and joint failure. The strength & stiffness for joints increase as the bracket-thickness. The results from theory of lateral buckling are compared to the experimental results. The ratio of experimental results to theory value is $0.83{\sim}0.95$ in the case of bracket-type and welded-type of $0.87{\sim}0.9$, indicating an accurate and safe estimation.

• Proceeding of KASS Symposium
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• 2008.05a
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• pp.43-48
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• 2008

The object of this paper is to evaluate on constructability of modular steel frame with the hollow structural steel section to LEB C-shape. A modular building is built with factory-manufacture and site-construction. The advantage of a Modular building presents that enhanced building quality, shortened construction period and easy at an expansion and enlargement for buildings but also has demerits such as size restriction of the modular units according to the Road Traffic Law and Inflexibility of the unit composition. So in this study we use light-weighted structure members with bolted joint for easy Knock-down and traffic, also we evaluated the constructability of this bolted joints type modular buildings.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1285-1288
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• 1997

The basic technology of virtual reality can be described as the cognition of the condition change in virtual world by stimulating the visual, auditory, kinesthetic and tactile sensation. Among these, the kinesthetic and tactile sensation is one of the most important things to recognize the interaction. In this paper, it is addressed the haptic device which help the human feel the sense of the operator, and is designed in modular type to expand for five fingers later. the haptic device is driven by tendon and ultrasonic motors located in the wrist part. Each joint is actuated by coupled tendons and adopts more actrator by one than the number of the joints, called 'N+1 type'. The haptic device adopts metamorphic 4-bar linkage structure and the length of linkages, shape and the location of joint displacement sensor are optimized through the analysis.

• Journal of the Korea Concrete Institute
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• v.27 no.2
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• pp.137-145
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• 2015

The slab-type precast modular bridge consists of the precast slab bridge modules which are connected in the transverse direction. The longitudinal joints between the precast slab bridge modules are filled with cast-in-place mortar. The construction of the slab-type precast modular bridge is completed by applying the prestressing force on the longitudinal joints. In this study, 4-points bending tests and 3-points bending tests were conducted to examine the effects of the prestressing force and the shape of joint on the flexural strength and crack serviceability of longitudinal joint. The results of 4-points bending tests showed that the flexural strength is affected by the prestressing force but not by the shape of join. From the results of 3-points bending tests by which the bending moment and the shear force are simultaneously applied on the joints of the specimens, it is observed that the shape of joint affects on the flexural strength and the crack behavior. The results of two types of bending tests confirmed that the prestressing force according to the design code is appropriate and the joint with two shear keys gives the better performances against the crack of joint.

• Journal of Korean Association for Spatial Structures
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• v.8 no.4
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• pp.65-71
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• 2008

The object of this paper is to evaluate on constructability of modular steel frame with the hollow structural steel section to LEB C-shape. A modular building is built with factory-manufacture and site-construction. The advantage of a Modular building presents that enhanced building quality, shortened construction period and easy at an expansion and enlargement for buildings but also has demerits such as size restriction of the modular units according to the Road Traffic Law and Inflexibility of the unit composition. So in this study we use light-weighted structure members with bolted joint for easy Knock-down and traffic, also we evaluated the constructability of this bolted joints type modular buildings.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.459-467
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• 2016

Recently, new open-cut modular construction method, which is built within a 5~7m depth below the road, was proposed for the near-surface transit system to ensure the economic feasibility of underground structures. In this paper, the precast modular construction method was developed for the low-cost and rapid construction of underground structures. For the experiment on the flexural performance of the modular slab connections, a total of eleven specimens were fabricated according to the test variables; section shape, joint type, lap length, and transverse reinforcement. The test results were compared with those of the specimens without loop joints. To verify the performance of the slab connections, the 4-point loading tests of precast RC members with loop joints were conducted. As a result of the test, the flexural performance of the half-depth specimens with a 200mm lap length of loop joints were confirmed to be similar to those of the specimens without joints.