• Proceedings of the Computational Structural Engineering Institute Conference
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• 2000.04b
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• pp.347-354
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• 2000

The seismic behaviors of a bridge system with several simple spans are examined to see the effects of the longitudinal stiffness degradation due to abutment-soil interaction. The abutment-backfill system is modeled as one degree-of-freedom-system with nonlinear spring and linear damper. various soil-conditions surrounding the abutment such as loose sand, medium dense sand, and dense sand are considered in the bridge seismic analysis. The idealized mechanical model for the whole bridge system is modeled by adopting the multiple-degree-of-freedom system, which can consider components such as pounding phenomena, friction at the movable supports, rotational and translational motions of foundations, and the nonlinear pier motions. The stiffness of the abutment is found to be rapidly reduced at the beginning of the earthquakes, and to be converged to constant values shortly after the displacement approaches to the Predefined critical values. It is observed that the maximum relative distanced an maximum relative displacements are generally Increased as the relative density of a soil decreases As the peak ground acceleration increases, the response ratio of the case considering stiffness degradation to the case considering constant stiffness decreases.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.631-637
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• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• Journal of Korean Society of Steel Construction
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• v.16 no.5 s.72
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• pp.629-639
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• 2004

A steel frame is one of the most commonly used structural systems due to its resistance to various types of applied loads. Many studies have been conducted to investigate the effects of several parameters, such as connection flexibility, the boundary condition of each support, and beam-to-column stiffness ratio, on the characteristic behavior of a frame. Based on the results of these studies, several design methods have been proposed. This research focused on the number of bolts on the rotational stiffness of a double-angle connection, and its effect on the story drift of a frame. To achieve these purposes, a simplified analytical model was proposed. Several experimental tests were also conducted to obtain the rotational connection stiffness of each double-angle connection.

• Journal of Korean Society of Steel Construction
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• v.28 no.2
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• pp.85-96
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• 2016

Double split tee connection has various strength, stiffness, and energy dissipation capacity according to changes of thickness of T-stub flange and gauge distance, number, and diameter of high-strength bolt. If the double split tee connection is applied to a low- or medium-rise steel structure, a shear tab can't be applied for supporting shear force because of geometrical limitation. So it is required to propose details of improved double split tee connection to support shear force as well as flexural force. This research was performed to see if enough rotational stiffness is found when the double split tee connection without shear tab which was obtained through analytic and experimental researches by Yang et al. is applied to a low- or medium-rise steel structure. Also, it was seen if the low- or medium-rise steel structure having double split tee connection without shear tab has safe structural behavior, as well as material saving effect.

• International journal of advanced smart convergence
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• v.9 no.4
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• pp.26-33
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• 2020

This study measured the downward stepping movement relative to weight change (no load, and 10%, 20%, 30% of body weight respectively of adult male (n=10) from standardized stair (rise of 0.3 m, tread of 0.29 m, width of 1 m). The 3-dimensional cinematography and ground reaction force were also utilized for analysis of leg stiffness: Peak vertical force, change in stance phase leg length, Torque of whole body, kinematic variables. The strategy heightened the leg stiffness and standardized vertical ground reaction force relative to the added weights (p<.01). Torque showed rather larger rotational force in case of no load, but less in 10% of body weight (p<.05). Similarly angle of hip joint showed most extended in no-load, but most flexed in 10% of body weight (p<.05). Inclined angle of body trunk showed largest range in posterior direction in no-load, but in vertical line nearly relative to added weights (p<.001). Thus the result of the study proved that downward stepping strategy altered from height of 30 cm, regardless of added weight, did not affect velocity and length of lower leg. But added weight contributed to more vertical impulse force and increase of rigidity of whole body than forward rotational torque under condition of altered stepping strategy. In future study, the experimental on effect of weight change and alteration of downward stepping strategy using ankle joint may provide helpful information for development of enhanced program of prevention and rehabilitation on motor performance and injury.

• Journal of Magnetics
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• v.21 no.3
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• pp.379-386
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• 2016

To satisfy the requirement of magnetically suspended control moment gyroscope (MSCMG) that magnetic bearing can provide torque, a novel 4DOF hybrid magnetic bearing (HMB) with integrated structure was designed. Mathematical models of forces and torques are established by using equivalent magnetic circuit method. The current stiffness, displacement stiffness, tilting current stiffness and angular stiffness of the 4DOF hybrid magnetic bearing are derived by the mathematical models. Equivalent magnetic circuit method and finite element method (FEM) simulation results indicate that the force has a good linear relationship with both displacement and current, and the torque has a good linear relationship with angular displacement and current. The novel 4DOF HMB is capable of achieving control in both two radial translational degrees of freedom (DOF) and also two radial rotational DOFs. The 4DOF HMB is well adapted to MSCMG system, exhibiting advantages in the controllable DOF, light weight and easy to control.

• Steel and Composite Structures
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• v.22 no.2
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• pp.323-352
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• 2016

The results of a series of finite element (FE) simulations and experimental studies are used to develop strength and stiffness models that predict the failure capacity and response characteristics of unstiffened extended endplate connections with circular and rectangular bolt configurations associated with deep girders. The proposed stiffness models are composed of multi-linear springs which model the overall extended endplate/column flange system deformation and strength of key-components. Comparison of model predictions with FE and experimental results available in the literature show that the proposed models accurately predict the strength and the response of extended endplate/column system with circular and rectangular bolt configurations. The effect of the bolt configuration (circular and rectangular) on the prying phenomenon encountered in the unstiffened extended endplate/column system was investigated. Based on FE results, extended endplate with circular bolt configuration has a more ductile behavior and exhibits higher total prying forces. The proposed models can be used to design connections that cover all possible failure modes for extended endplate with circular bolt configuration. This study provides guidelines for engineers to account for the additional forces induced in the tension bolts and for the maximum rotational capacity demand in the connection which are required for seismic analysis and design.

• Journal of the Korean Society for Precision Engineering
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• v.32 no.2
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• pp.117-125
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• 2015

This paper presents a dynamic modeling method for the indeterminate spindle-bearing system supported by multiple bearings of different types. A spindle-bearing system supported by ball and cylindrical roller bearings is considered. The de Mul's bearing model is extended for calculating ball and cylindrical roller bearing stiffness matrices with inclusion of centrifugal force and gyroscopic moment. The dependence between spindle shaft reaction forces and bearing stiffness is effectively resolved using an iterative approach. The spindle rotor dynamics is established with the Timoshenko beam theory based finite elements. The spindle reaction forces, bearings stiffness and spindle natural frequencies are obtained with taking into account spindle radial load, ball bearing axial preload and rotational speed effects. The developed method is verified by comparing the simulation results with those from a commercial program.

• Steel and Composite Structures
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• v.20 no.3
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• pp.469-486
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• 2016

Codes EN 1993 and EN 1994 require to take into account actual joint characteristics in the global analysis. In order to implement the semi-rigid connection effects in frame design, knowledge of joint rotation characteristics ($M-{\phi}$ relationship), or at least three basic joint properties, namely the moment resistance $M_R$, the rotational stiffness $S_j$ and rotation capacity, is required. To avoid expensive experimental tests many methods for predicting joint parameters were developed. The paper presents a comprehensive analytical model that has been developed for predicting the moment resistance $M_R$, initial stiffness $S_{j.ini}$ and rotation capacity of the minor axis, composite, semi-rigid joint. This model is based on so-called component method included in EN 1993 and EN 1994. Comparison with experimental test results shows that a quite good agreement was achieved. A computer program POWZ containing proposed procedure were created. Based on the numerical simulation made with the use of this program and applying regression analysis, simplified equations for main joint properties were also developed.