• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.326-332
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• 2019

In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.

• Proceedings of the KSR Conference
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• 2006.05b
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• pp.712-716
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• 2006

• International Journal of Railway
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• v.2 no.4
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• pp.180-186
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• 2009

High speed railway challenge the design, construction and maintaining of traditional railway, many traditional design concepts have been changed. Transition of railway and bridge has two main problems. one is that different lines have different ability of resisting distortion in area of trial load, which was known that problem of smooth transition of stiffness, the other is that differential settlement between artificial structure and earth structure cause bending of railway. The two problems have effect on train moving. The principle of processing transition of railway and bridge is same in world, but it is difficult to find relationship between design standard of transition, vehicle performance, line standard, design speed and so on form documentation and data reports. Based on mechanics, the paper analyzed dynamic performance of transition of high speed railway, studied various rough elements which is effective to train moving, built mathematical model of interaction of train and transition of high speed railway and developed numerical simulation software. In various different work conditions, we did great quantity of numerical simulation, comprehensive analysis and performance analysis.

• Structural Engineering and Mechanics
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• v.3 no.1
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• pp.75-89
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• 1995

A transition membrane element designated as CLM which has variable mid-side nodes with drilling freedoms has been presented in this paper. The functional for the linear problem, in which the drilling rotations are introduced as independent variables, has been formulated. The transition elements with variable side nodes can be efficiently used in the local mesh refinement for the in-plane structures, which have stress concentrations. A modified Gaussian quadrature is needed to be adopted to evaluate the stiffness matrices of these transition elements mainly due to the slope discontinuity of displacement within the elements. Detailed numerical studies show the excellent performance of the new transition elements developed in this study.

• Transactions of the Korean Society of Automotive Engineers
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• v.7 no.9
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• pp.89-96
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• 1999

This paper presents the optimization design technique on the joint stiffness and section characteristic factors of chassis frame, by using beam and spring elements in a given design package. Two correction methods are used for the optimization design of chassis frame. First is the equivalent inertia of moment method in relation to the section characteristic factors of joint zones, which are thickness , width and height of frame channel section. Second is the rotational spring element with joint stiffness of joint zones. The CAE example shows that the relationship of section characteristic factors and joint stiffness can effectively be used in designing chassis frame. In this point, if static and dynamic targets are given, the joint-zone and section characteristic factors of chassis frame intended may be designed and defined by using beam and rotational spring elements.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.10
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• pp.140-147
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• 1998

The dynamic behavior of elastically restrained beams under the action of distributed tangential forces is investigated in this paper. The beam, which is fixed at one end, is assumed to rest on an intermediate spring support. The governing equations of motion are derived from the energy expressions, and the finite element formulation is employed to calculate the critical distributed tangential force. Jump phenomena for the critical distributed tangential force and instability types are presented for various spring stiffnesses and support positions. Stability maps are generated by performing parametric studies to show how the distributed tangential forces affect the frequencies and the stability of the system considered. Through the numerical simulations, the following conclusioils are obtained: (i) Only flutter type instability exists for the dimensionless spring stiffness K $\leq$ 97, regardless of the position of the spring support. (ii) For the dimensionless spring stiffness K $\leq$ 98, the transition from flutter to divergence occurs at a certain position of the spring support, and the transition position moves from the free end to the free end of the beam as the spring stiffness increases. (iii) For K $\leq$ 10$^{6}$ the support condition can be regarded as a rigid support condition.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1993.10a
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• pp.8-15
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• 1993

The transition membrane elements with drilling freedom have been developed. The functionals for the linear problem, in which the drilling rotations are introduced as independent variables, have been presented by Hughes & Bressi. And 4-node membrane elements with drilling degrees of freedom were developed by Ibrahimbegovic. The transition elements can be efficiently used in modelling the in-plane structures, in particular, where the stress concentration exists. A modified Gaussian quadrature adopted to evaluate the stiffness matrices of these transition elements which have slope discontinuity of displacement within the elements. Detailed numerical studies show the excellent performance of the transition elements.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.413-419
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• 2000

An efficient method for calculating the nonlinear stiffness of the Progressive Multi-Leaf Spring is developed and evaluated. It utilizes the interaction between the main and help spring that induces the nonlinearity. The main and the help springs are modeled as multi-leaf cantilever beams, and, then, they are integrated as one by connecting the two models for each side of the Progressive Multi-Leaf Spring at the center-bolt. The results from the developed model are evaluated by use of the commercial FEA program, ABAQUS. The nonlinear spring coefficients calculated by FEM analysis yield the numbers very close to the numbers calculated for the spring coefficients by used of the developed method. From the comparative evaluations, the developed method is accurate enough and very efficient in calculation time for evaluating the nonlinear spring property of the Progressive Multi-Leaf Spring.

• Computational Structural Engineering
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• v.8 no.2
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• pp.85-93
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• 1995

This study presents the formulation of beam transition elements and transition zone elements for the effective finite element analysis of the transition regions of coupled wall structures. Beam transition element can be described as the quasi beam element which is replaced by an equivalent plane stress element, keeping equally, the basic behavior of beam element, based on the kinematic and force constraints between beam and wall element. These beam transition elements solve the incompatibility related to different degrees of freedom between beam and wall element in transition regions. Also, the stiffness matrices of transition zone elements which are directly connected with beam transition elements in transition regions can be derived from the equivalent constraint conditions. These elements provide the reasonable mesh grading schemes for transition regions and can be usefully applied to the transition regions of all structures that the interactions of wall and beam element are considered.

• Proceedings of the KSR Conference
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• 2009.05b
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• pp.379-384
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• 2009

It is of great importance to assure the running safety and ride comfort in designing the floating slab track for the mitigation of train-induced vibration. In this paper, for this, analyzed are the system requirements for the running safety and ride comfort, and then, the behavior of train and track at the transition zone between the floating slab track and the conventional concrete slab track according to several main design variables such as spring constant, damping coefficient, spacing and arrangement of isolators and slab length, using the dynamic analysis technique considering the train-track interaction. The results of numerical analysis demonstrate that the discontinuity of the support stiffness at the transition results in a drastic increase of the vertical vibration acceleration of the train body, wheel-rail interaction force, rail bending stress and uplift force. The increase becomes higher with the decrease of the spring constant of isolators and the increase of the isolator spacing, but the damping ratio does not significantly affect the behavior of train and track at the transition. Therefore, to assure the running safety and ride comfort, simultaneously increasing the effectiveness of vibration isolation, it is effective to minimize the relative vertical offset between the floating slab and the conventional track slab by adjusting the spring constant and spacing of isolators at the transition.