• Smart Structures and Systems
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• v.24 no.3
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• pp.361-377
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• 2019

The stiffness of shape memory alloy (SMA) spring while in actuation is represented by an empirical model that is derived from the logistic differential equation. This model correlates the stiffness to the alloy temperature and the functionality of SMA spring as active variable stiffness actuator (VSA) is analyzed based on factors that are the input conditions (activation current, duty cycle and excitation frequency) and operating conditions (pre-stress and mechanical connection). The model parameters are estimated by adopting the nonlinear least square method, henceforth, the model is validated experimentally. The average correlation factor of 0.95 between the model response and experimental results validates the proposed model. In furtherance, the justification is augmented from the comparison with existing stiffness models (logistic curve model and polynomial model). The important distinction from several observations regarding the comparison of the model prediction with the experimental states that it is more superior, flexible and adaptable than the existing. The nature of stiffness variation in the SMA spring is assessed also from the Dynamic Mechanical Thermal Analysis (DMTA), which as well proves the proposal. This model advances the ability to use SMA integrated mechanism for enhanced variable stiffness actuation. The investigation proves that the stiffness of SMA spring may be altered under controlled conditions.

• Steel and Composite Structures
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• v.38 no.6
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• pp.637-656
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• 2021

The component-based method is widely used to analyze the initial stiffness of joint in steel structures. In this study, an analytical component model for determining the column face stiffness of square or rectangular hollow section (SHS/RHS) subjected to tension was established, focusing on endplate connections. Equations for calculating the stiffness of the SHS/RHS column face in bending were derived through regression analysis using numerical results obtained from a finite element model database. Because the presence of bolt holes decreased the bending stiffness of the column face, this effect was calculated using a novel plate-spring-based model through numerical analysis. The developed component model was first applied to predict the bending stiffness of the SHS column face determined through tests. Furthermore, this model was incorporated into the component-based method with other effective components, e.g., bolts under tension, to determine the tensile stiffness of the T-stub connections, which connects the SHS column, and the initial rotational stiffness of the joints. A comparison between the model predictions, test data, and numerical results confirms that the proposed model shows satisfactory accuracy in evaluating the bending stiffness of SHS column faces.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.8
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• pp.128-138
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• 1996

Based on the virtual stiffness model, the stiffness of a grasped object is characterized. Differing from the previous investigations, the effect of grasp force on the stiffness of a grasp is formulated in terms of additional stiffness, which is called additional stiffness in this paper, and it is addressed how this term affects the stability of a grasp. In addition, a method of controlling the stiffness of a grasp is proposed and validated by experiments using a two-fingered robot hand.

• Smart Structures and Systems
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• v.15 no.5
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• pp.1329-1344
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• 2015

The stiffness of a structure is one of several structural signals that are useful indicators of the amount of damage that has been done to the structure. To accurately estimate the stiffness, an equation of motion containing a stiffness parameter must first be established by expansion as a linear series model, a Taylor series model, or a power series model. The model is then used in multivariate autoregressive modeling to estimate the structural stiffness and compare it to the theoretical value. Stiffness assessment for modeling purposes typically involves the use of one of three statistical model refinement approaches, one of which is the efficient Akaike information criterion (AIC) proposed in this paper. If a newly added component of the model results in a decrease in the AIC value, compared to the value obtained with the previously added component(s), it is statistically justifiable to retain this new component; otherwise, it should be removed. This model refinement process is repeated until all of the components of the model are shown to be statistically justifiable. In this study, this model refinement approach was compared with the two other commonly used refinement approaches: principal component analysis (PCA) and principal component regression (PCR) combined with the AIC. The results indicate that the proposed AIC approach produces more accurate structural stiffness estimates than the other two approaches.

• Steel and Composite Structures
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• v.48 no.3
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• pp.321-333
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• 2023

This paper proposes a comprehensive investigation on lateral stiffness of corner-supported steel modular frame using splice connection. A full-scale modular frame with two stacked steel modules under lateral load is tested. Ductile pattern in the transfer of lateral load is found in the final failure mode. Two types of lateral stiffness, including tangent stiffness and secant stiffness, are defined from the load-displacement due to the observed nonlinearity. The difference between these two types of stiffness is found around 20%. The comparisons between the experimental lateral stiffness and the predictions of classical methods are also conducted. The D-value method using hypothesis of independent case is a conservative option for predicting lateral stiffness, which is more recommended than method of contraflexural bending moment. Analyses on two classical short-rod models, including fix-rod model and pin-rod model, are further conducted. Results indicate that fix-rod model is more recommended than pin-rod model to simplify splice connection for simulation on lateral stiffness of modular frame in elastic design stage.

• Structural Engineering and Mechanics
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• v.83 no.3
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• pp.341-351
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• 2022

During bolted flange assembly, the contact stiffness of some areas of the joint surface may be low due to the elastic interaction. In order to improve the contact stiffness at the lowest position of bolted flange, the correlation model between the initial bolt pre-tightening force and the contact stiffness of bolted flange is established in this paper. According to the stress distribution model of a single bolt, an assumption of uniform local contact stiffness of bolted flange is made. Moreover, the joint surface is divided into the compressive stress region and the elastic interaction region. Based on the fractal contact theory, the relationship model of contact stiffness and contact force of the joint surface is proposed. Considering the elastic interaction coefficient method, the correlation model of the initial bolt pre-tightening force and the contact stiffness of bolted flange is established. This model can be employed to reverse determine the tightening strategy of the bolt group according to working conditions. As a result, this provides a new idea for the digital design of tightening strategy of bolt group for contact stiffness of bolted flange. The tightening strategy of the bolted flange is optimized by using the correlation model of initial bolt pre-tightening force and the contact stiffness of bolted flange. After optimization, the average contact stiffness of the joint surface increased by 5%, and the minimum contact stiffness increased by 6%.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2000.10a
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• pp.209-216
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• 2000

The purpose of this study is to investigate elasto-plastic behaviour and estimate ultimate resistance capacity of the residential-commercial building subjected to lateral force along the height of structure. Four types of residential-commercial building are chosen as analytical models and investigated by pushover analysis. Pushover analysis estimates initial elastic stiffness, post-yielding stiffness, and plastic hinges on each story of structures through three-dimensional nonlinear analysis program CANNY-99. Skeleton curve of bending stiffness model is bilinear, shear stiffness model is trilinear, and axial stiffness model is elastic. Skeleton curve of axial stiffness model has the axial compression and tension stiffness of reinforced concrete members. This study presents the change of inter story drift, story stiffness and hinge of story and member.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.5
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• pp.19-24
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• 2017

In this research, a practical stiffness calculation method is developed and applied for modifying the height of the headstock, turret, and tailstock of a CNC lathe to enlarge the turntable diameter. The casting structure is assumed to be a rigid body and the linear motion element to be an elastic spring to simplify the turret stiffness calculation model. The stiffness of the sliding guide and ball screw of the original lathe is measured with a push tester and LVDT sensor, and the turret stiffness of the modified lathe is predicted and compared with experimental results to verify the model. The measured stiffness of the original turret is $0.17kN/{\mu}m$ and that of the modified turret is $0.11kN/{\mu}m$, i.e., an 18% difference from the predicted result. The verified stiffness calculation model can be used to develop another modified lathe.

• Structural Engineering and Mechanics
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• v.77 no.2
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• pp.293-304
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• 2021

Structural failure due to seismic pounding between two adjacent buildings is one of the major concerns in the context of structural damage. Pounding between adjacent structures is a commonly observed phenomenon during major earthquakes. When modelling the structural response, stiffness of impact spring elements is considered to be one of the most important parameters when the impact force during collision of adjacent buildings is calculated. Determining valid and realistic stiffness values is essential in numerical simulations of pounding forces between adjacent buildings in order to achieve reasonable results. Several impact model stiffness values have been presented by various researchers to simulate pounding forces between adjacent structures. These values were mathematically calculated or estimated. In this study, a linear spring impact element model is used to simulate the pounding forces between two adjacent structures. An experimental model reported in literature was adopted to investigate the effect of different impact element stiffness k on the force intensity and number of impacts simulated by Finite Element (FE) analysis. Several numerical analyses have been conducted using SAP2000 and the collected results were used for further mathematical evaluations. The results of this study concluded the major factors that may actualise the stiffness value for impact element models. The number of impacts and the maximum impact force were found to be the core concept for finding the optimal range of stiffness values. For the experimental model investigated, the range of optimal stiffness values has also been presented and discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.