• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.209-215
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• 2022

In this paper, a forearm Mechanism design inspired by ligamentous structure of the human body is proposed. The proposed mechanism consists of four rigid bodies and fourteen wires without any mechanical joints. Actually, the mechanism is based on the concept of the tensegrity structure. Therefore, the proposed mechanism has inherently compliant characteristics due to the flexibility of the wires composing the structure. Rigid bodies and wires of the mechanism mimic bones and major ligaments in the forearm of the human. The proposed mechanism is classified as one of the interconnected hybrid flexure systems. The analysis method of the degree of freedom (DOF) of the proposed mechanism is also introduced through analyzing technique of the interconnected hybrid flexure systems, in this paper. Ultimately, the proposed mechanism, whose structure is complicated with rigid bodies and wires, mathematically drives that it has 3-DOFs.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1999.04a
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• pp.287-294
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• 1999

The tensegrity structure by prestressed cable, which may have large freedom in scale and form and therefore are received much attention from the view points of their light weight and aesthetics, is a very flexible and geometrically unstable structure because the cable material has little initial rigidity. For the stable self-equilibrated state of the usually very deformable structure, the method to find the optimal initial stress by the shape analysis is proposed in this paper. The proposed procedure is to derive the nonlinear finite element formula of cable and truss members considering geometric nonlinearity and used to modified load incremental method adding to Newton-Raphson method with the proposed condition for optimal initial stress. The result of the shape analysis for the tensegrity structure with the radius of 30m is shown the almost approximated shape to architectural shape and the changed procedure of initial stress

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.237-244
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• 2019

This paper suggests novel types of joint mechanisms composed of elastic strings and rigid bodies. All of the human hinge joints have the articular capsule and a pair of collateral ligaments. These fibrous tissues make the joint compliant and stable. The proposed mechanism closely imitates the human hinge joint structure by using the concept of tensegrity. The resultant mechanism has several characteristics shown commonly from both the tensegrity structure and the human joint such as compliance, stability, lightweight, and non-contact between rigid bodies. In addition, the role and feature of the human hinge joints vary according to the origins of a pair of collateral ligaments. Likewise, the locations of two strings corresponding to a pair of collateral ligaments produce different function and motion of the proposed mechanism. It would be one of the advantages obtained from the proposed mechanism. How to make a joint mechanism with different features is also suggested in this paper.

• Journal of Korean Association for Spatial Structures
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• v.7 no.3 s.25
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• pp.125-132
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• 2007

The purpose of this study is to investigate the functions and formations of the component units as aesthetic components in the spatial grid. The main subject covered here is the presentation of the morphological method of shaping spatial grid by application of 3-dimensional units satisfying the suitable form of polyhedra, tensegrity and hybrid structure. In accordance with the subject, the definition of the spatial grid and 3-dimensional nit, the relationship between them, and then the functions of those units are reviewed. And the formations of polyhedral units, tensegrity units and hybrid units are generated by means of the modules of the simplest type or pattern. And also the overall appearance of the spatial grid shaped by several basic methods in which one unit can be joined to another and arranged are depicted.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2003.10a
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• pp.285-292
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• 2003

The soft structure can make large space more effectively, and its construction is easy and simple as well. However, it is not easy to realize this in the actual space. Therefore, two works are needed to be done for effective and accurate construction of soft structures. First, making a working scenario to complete the final objective form; second revising construction errors occurred in the middle of the actual works. These works are called constructional analysis. At this time, geometric nonlinearity should be considered to reflect the sensitivity by the initial stress of flexible structures, constructional analysis comes down to a nonlinear problem after all. This study approaches nonlinear constructional analysis with the numerical method for adjusting stress of cable-dome structures which are a soft structure system, and then verifies it.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1998.04a
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• pp.93-100
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• 1998

The basic systems of spatial structures such as shells, membrane, cable-nets and tensegrity structure have been developed to create the large spaces without column. These structures may have large freedom in scale and form, and especially tensegrity structures are received much attention from the view points of their light weight and aesthetics. But There re some difficulties concerning structural stability, surface formation and construction method. One of the way to solve these problems reasonably is a combination of tensile members and rigid members. A structural system based on this concept is referred to as the "HTS ( Hybrid Tension Structure )". This is a type of flexible structural system which is unstable initially, because the cable material has little initial rigidity. As cable - dome hybrid structures is a type of HTS, the initial stress for the self- equilibrated system having stable state have to be introduced. To determine initial stress having stable state, the shape finding analysis is required before the stress - deformation analysis. In this paper, the primary objective is to derive the nonlinear finite element formula of cable and truss members considering geometric nonlinearity for shape finding of cable-dome, and to propose the method to decide the initial stress by the shape analysis of cable-dome hybrid structure with the self-equilibrated state.

• Proceeding of KASS Symposium
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• 2005.05a
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• pp.52-66
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• 2005

Tension and Membrane have the potential to enable the realization of lightweight structures that have the attractive features of structures efficiency and aesthetical expression. Compared with pure (thorough-bred) tension structures such as cable net, air dome and tensegrity, so called hybrid tension structures such as beam string, tensegric system and other mixed structures have Potential still to be realized. After synnaruzubg the simple definition of tensegric structure, some holistic designs for hybrid tension structures completed recently in the author's practice are given.

• International conference on construction engineering and project management
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• 2005.10a
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• pp.596-605
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• 2005

The cable dome, proposed by Geiger after developing Fuller's idea of tensegrity and improved by Levy, is a new type of large span space structures. In this paper, formulations of the initial forces distribution in members of two main systems of cable dome, which are Geiger dome and Levy dome, are presented. By analyzing the static performance of Levy dome and the variation of internal forces in members of the structure, four groups of design parameters in cable dome structure are represented in terms of: (1) the numbers of rings and the spaces between the rings; (2) the slopes of ridge cables; (3) the lengths of struts; (4) the initial force in one member of the structure.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1998.04a
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• pp.272-279
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• 1998

The purpose of this study is to show how to gain the morphology of the Hybrid Spatial Structures and to get the geometrical data such as node coordinates, member relationships and graphic images. To form spatial structures, we have developed morphological aspects of general spatial structures, programming process and techniques. Structural design has many processes. Especially, it is very important to consider the determination of structural configuration. Regular Hybrid Spatial Structures have complex configuration, so we need to make use of automated computer process to determine structural shape in Hybrid Spatial Structures. We have applied morphological aspects to double layer plate, single layer dome, double layer dome and tensegrity structure.

• Computational Structural Engineering
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• v.10 no.3
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• pp.195-202
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• 1997

The charateristics of stabilization for stabilized truss unit-structures with cable and truss are investigated in this paper. This unit system is composed of a central post and eight cables, and is connected by hinge joints, and stabilized by self-equilibrated stress field. As this unit structure itself is a statically closed and stabilized system individually, it can be employed to assemble structures with various configurations. In this study, for stabilization of truss structures stabilized by cable tension, the structural concept of unit structures, the range of various geometrical parameters and the relationship of governing parameters about unit systems are explained.