• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• 한국생산제조학회지
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• 제4권4호
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• pp.50-60
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• 1995

Recently advantages joining dissimiliar materials and light weight material techniques have led to increasing use of structural adhesives in the various industries. Stress singulartiy occurs at the interface edges of adhesively bonded dissimilar materials. So it is required to analyze its stress singularity at the interface edges of adhesively bonded joints indissimilar materials. In this paper, the analysis method of stress singularity is studied in detail. Also, effects of the stress singularity at the interface edge of adhesively bonded scarf joints in combinations of dissimilar materials are investigated by using 2-dimensional elastic program of boundary element method. As the results, the strength evaluation method of adhesively bonded dissimilar materials using the stress singularity factor, $\Gamma$,is very useful. The fracture criterion, method of strength evaluation and prediction of fracture strength by the stress singularity factor on the adhesively bonded dissimilar materials are proposed.

• 한국생산제조학회지
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• 제21권3호
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• pp.439-445
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• 2012

The stress singularity for the excess adhesive on interface of adhesively bonded joint was investigated by using the 2-dimensional elastic boundary element method (BEM). To establish a reasonable strength evaluation method and a fracture criterion for the excess adhesive of interface in adhesively bonded joint, it is necessary to evaluate fracture parameters with various bonding conditions. Under the variations of adhesively bonded thickness (h) and diameter (d) for the excess adhesive, a stress analysis was performed, and from the results, the stress singularity index (${\lambda}$) and the stress singularity factor (${\Gamma}$) were calculated. The variations have a great influences on the stress singularity for the excess adhesive of interface in adhesively bonded joint, and the ${\Gamma}$ is reduced as the "h" and "d" increase.

• 대한기계학회논문집A
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• 제20권7호
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• pp.2087-2096
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• 1996

Recentrly advantages in composite and light weight material techniques have led to the increased use of bonded dissimilar materials such as ceramics/metal bonded joints, IC package, brazing, coating and soldering in the various industries. It is required to analyze the evaluation method of fracture strength and design methodology of bonded joints in dissimilar materials. Stress singularity according to changes of scarf angles for bonded scarf joints in dissimilar materials was investigated by the boundary element method and static experiments. In this paper, effect of the stress singularity factors at the interface edges of scarf joints on various dissmilar materials combinations were investigated by analysis of its stress and stress singularity index using 2-dimensional elastic program of boundary element method. And the variations of stress singularity index by changes for Young's modulus ratios of materials and scarf angles were investigated. Also, it is found that stress singularities at bonded interface edges are disappeared for certain combination of scarf angle in a pair of bonded dissimilar materials. As the results, it is proposed that the strength evaluation by using stress singularity factors, $\Gamma$, considering stress singularity at the interface edges of bonded dissimilar materials, is very useful.

• 한국자동차공학회논문집
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• 제13권2호
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• pp.142-148
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• 2005

In this paper, the stress singularity on interface of friction welded dissimilar materials was investigated by using 2-dimensional elastic boundary element method. It is required that stress distributions and stress singularities on an interface for friction welded dissimilar materials analize to establish strength evaluation. The stress singularity index ($\lambda$) and stress singularity factor ($\Gamma$) were calculated from the results of stress analysis. The stress singularities on variations for shapes and thickness of friction welded flashes were analized and discussed. This paper suggested that the strength evalution by using the stress singularity factors as fracture parameters, considering the stress singularity on an interface edge of friction welded dissimilar materials were very useful.

• 한국생산제조학회지
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• 제7권1호
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• pp.58-68
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• 1998

Advantages of adhesively bonded joints and techniques of weight reduction have led to increasing use of structural adhesives such as LSI(large scale integration) package, automobile, aircraft in the various industries. In spite of such wide applications of adhesively bonded joints, the evaluation method of bonding strength has not been established. Stress singularity occurs at the interface edges of adhesively bonded joints and it is required to analyze it. In this paper, the stress singularity using 2-dimensional elastic boundary element method (BEM) with the changes of the lap length and adhesive for single lap joint was analyzed, and experiments of strength evaluation were carried out. As the results, the evaluating method of bonding strength considering stress singularity at interface edges of adhesively bonded joints and stress intensity factor of interface crack have been proposed in static and fatigue test.

• 마이크로전자및패키징학회지
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• 제10권1호
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• pp.25-29
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• 2003

이 논문은 고분자 박막이 주변으로부터 수분을 흡수하게 될 때, 탄성 기판과 점탄성 박막의 계면 모서리에서 발생하는 응력 특이성을 다루고 있다. 계면에서 발생하는 응력을 조사하기 위해서 경계 요소법이 사용되고 있다. 주어진 점탄성 모델에 대해서 특이 차수가 수치적으로 계산된다. 이 논문에서 고려하고 있는 점탄성 모델에 대해서, 응력특이계수는 시간이 경과함에 따라 이완되고 있으나 특이 차수는 증가되고 있음을 보여준다.

• 대한수학회지
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• 제40권4호
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• pp.641-666
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• 2003

We develop a method of calculating explicitly the singularity of Szego and Bergman kernel by using the process developed by Boutet de Monvel and Sjostrand.

• 한국자동차공학회논문집
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• 제14권4호
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• pp.59-67
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• 2006

Recently, application of friction welded SUH35/SUH3 is increasing in the manufacturing process of automotive engine valves For securing its reliability and a reasonable strength evaluation method, it is necessary to assess stress singularity under the residual stress condition on the friction welded interface between dissimilar materials. In this paper, strength evaluation method of friction welded materials was investigated by boundary element method and static tensile testing. An advanced method of quantitative strength evaluation for SUH35/SUH3 friction welded material is to be suggested by establishing fracture criterion by using stress singularity factors.

• 로봇학회논문지
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• 제7권2호
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• pp.101-112
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• 2012

It is well-known that when singularities are located within the workspace of the parallel mechanism (PM), the usefulness of its workspace is significantly deteriorated. To handle this problem, we suggest an optimal design method which leads to more useful and larger workspace of the PM by taking its singularity locations into consideration in design process. Kinematic models of three selected planar PMs, a 5R type PM, a 3-RPR type planar PM, and a 3-RRR type planar PM, are derived via screw theory and their singularity analyses are conducted. Then workspace optimal designs for those three PMs are conducted to verify that the suggested design method leads more useful and larger workspace in which deterioration by singularity is minimal.