• Structural Engineering and Mechanics
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• 제5권1호
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• pp.33-49
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• 1997

A method of analysis is proposed for curved multicell box girder grillages. The method can be used to analyze box girder grillages comprising straight and/or curved segments. Each segment can be modelled by a number of beam elements. Each element has three nodes and the nodal degrees of freedom (DOF) consist of the six DOF for a conventional beam plus DOF to account for torsional warping, distortion, distortional warping, and shear lag. This element is an extension of a straight element that was developed earlier. For a more realistic analysis of the intersection regions of non-colinear box girder segments, the concept of a rigid connector is introduced, and the compatibility requirements between adjoining elements in those regions are discussed. The results of the analysis showed good agreement with the shell finite element results, but the proposed method of analysis needs a fraction of the time and effort compared to the shell finite element analysis.

• Structural Engineering and Mechanics
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• 제14권2호
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• pp.119-133
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• 2002

A beam-column fiber element for the large displacement, nonlinear inelastic analysis of Concrete-Filled Steel Tubes (CFT) is implemented. The method of description is Total Lagrangian formulation. An 8 degree of freedom (DOF) element with three nodes, which has 3 DOF per end node and 2 DOF on the middle node, has been chosen. The quadratic Lagrangian shape functions for axial deformation and the quartic Hermitian shape function for the transverse deformation are used. It is assumed that the perfect bond is maintained between steel shell and concrete core. The constitutive models employed for concrete and steel are based on the results of a recent study and include the confinement and biaxial effects. The model is implemented to analyze several CFT columns under constant and non-proportional fluctuating concentric axial load and cyclic lateral load. Good agreement has been found between experimental results and theoretical analysis.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 B
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• pp.732-734
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• 2003

In this paper, a design of horizontal-type 5DOF magnetic bearing is presented. To implement the non-contact bearing, an active magnetic bearing using electromagnet is used and finite element method(FEM) is chosen to design the bearing magnet. Two radial bearing and one thrust bearing is designed to implement 5DOF operation. And three-phase induction motor is used as a driving motor. The design method for the magnetic bearing system is described.

• Journal of Mechanical Science and Technology
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• 제20권6호
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• pp.828-839
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• 2006

In this paper, a 2-DOF planar parallel manipulator with two revolute actuators and one passive constraining leg. The kinematic analysis of the mechanism is analytically performed : the inverse and forward kinematics problems are solved in closed forms, the workspace is derived systematically, and the three kinds of singular configurations are round. The optimal design to determine the geometric parameters and the operating limits of the actuated legs is performed considering the kinematic manipulability and workspace size. These results of the paper show the effectiveness of the presented manipulator.

• 한국해양공학회지
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• 제31권5호
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• pp.371-377
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• 2017

This paper introduces a simulation-based determination method for hydrodynamic derivatives and 6DOF (degrees-offreedom) motion analysis for an underwater vehicle. Hydrodynamic derivatives were derived from second-order modulus expansion and composed of the added mass, and linear and nonlinear damping coefficients. The added mass coefficients were analytically obtained using the potential theory. All of the linear and nonlinear damping coefficients were determined using CFD simulation, which were performed for various cases based on the actual operating condition. Then, the linear and nonlinear damping coefficients were determined by fitting the CFD results, which referred to 6DOF forces and moments acting on an underwater vehicle, with the least square method. To demonstrate the applicability of the current study, 6DOF simulations for three different scenarios (L-, U-, and S-turn) were carried out, and the results were validated on the basis of physical plausibility.

• 로봇학회논문지
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• 제7권1호
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• pp.35-44
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• 2012

This paper presents a method to optimize motion planning for industrial manipulators with redundancy. For optimal motion planning, first of all, particular inverse kinematic solution is needed to improve efficiency for manipulators with redundancy working in various environments. In this paper, we propose three kinds of methods for solving inverse kinematics problems; numerical and combined approach. Also, we introduce methods for optimal motion planning using potential function considering the order of priority. For efficient movement in industrial settings, this paper presents methods to plan motions by considering colliding obstacles, joint limits, and interference between whole arms. To confirm improved performance of robot applying the proposed algorithms, we use two kinds of robots with redundancy. One is a single arm robot with 7DOF and another is a dual arm robot with 15DOF which consists of left arm, right arm with each 7DOF, and a torso part with 1DOF. The proposed algorithms are verified through several numerical examples as well as by real implementation in robot controllers.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.810-815
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• 2004

In this paper, we propose new parallel mechanism of a 3 dimensional biped robot whose each leg is composed of two 3-dof parallel platforms linked serially. This proposed parallel mechanism is able to move freely in the man-made environment and is applied to various fields, such as medical, welfare, and so on. And a total weight of each leg is expected to be lighter than serial linked leg. One side leg consists of a 3-dof orientation platform and 3-dof asymmetric parallel platform. The former consists of three active linear actuators and seven passive joints, and the latter of two active linear actuators, one active rotational actuator and eight passive joints. Thus, there are two kinds of parallel platforms each chain's elements and active joint's positions are different for the biped robot to move freely like a serial link without the kinematics constraints. The effectiveness and the performance of the proposed parallel mechanism and locomotion trajectory are shown in computer simulations with a 12-DOF parallel biped robot.

• 로봇학회논문지
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• 제5권2호
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• pp.102-109
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• 2010

In this study, an anthropomorphic robot Hand, called "SKKU Hand III" is presented. The hand has thirteen DOF(Degree-Of-Freedom) and is designed based on the skeletal structure of the human hand. Each finger module(except thumb module) has three DOF and four joints with a saddle joint mechanism which has two DOF at the base joint. Two distal joints of the finger module are mechanically coupled by a timing belt and pulleys. The thumb module is composed of a finger module and an additional actuator, which makes it possible to realize the opposition between the thumb and the other fingers. In addition, the palm DOF of the human hand is mimicked with a spatial link mechanism between the index finger and the thumb. Thus, it can grasp objects more stably and more strongly. For the modularization of the robotic hand all the driving circuits are embedded in the hand, and only the communication lines supporting CAN protocol with DC power cable are given as an interface. Therefore, it is possible to apply it to any robot system the interface. To validate the feasibility of the SKKU Hand III, a series of the representative grasp experiments such as power, precision, intermediate grasp etc. are carried out with the object around us and its operation is demonstrated.

• Interaction and multiscale mechanics
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• 제4권4호
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• pp.257-271
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• 2011

The analysis of interfacial stresses in structural component has been the subject of several investigations but it still requires more effort and studies. In this study a general three-dimensional interface element has been formulated for stress and displacement analyses in the interfacial area between two adjacent plate bending element and brick element. Interface element has 16 nodes with 5 degrees of freedom (DOF) in each node adjacent to plate bending element and 3 DOF in each node adjacent to brick element. The interface element has ability to transfer three translations from each side of interface element and two rotations in the side adjacent to the plate element. Stiffness matrix of this element was formulated and implemented in three-dimensional finite element code. Application of this element to the reinforced concrete (RC) beam strengthened with fiber reinforced polymer (FRP) including variation of deflection, slip between plate and concrete, normal and shear stresses distributions in FRP plates have been verified using experimental and numerical work of strengthened RC beams carried out by some researchers. The results show that this interface element is effective and can be used for structural component with these types of interface elements.

• Wind and Structures
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• 제24권5호
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• pp.481-500
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• 2017

A novel three-degree-of-freedom (DOF) forced vibration system has been developed for identification of aeroelastic (self-excited) load parameters used in time-domain response analysis of wind-excited flexible structures. This system is capable of forcing sinusoidal motions on a section model of a structure that is used in wind tunnel aeroelastic studies along all three degrees of freedom - along-wind, cross-wind, and torsional - simultaneously or in any combination thereof. It utilizes three linear actuators to force vibrations at a consistent frequency but varying amplitudes between the three. This system was designed to identify all the parameters, namely, aeroelastic- damping and stiffness that appear in self-excited (motion-dependent) load formulation either in time-domain (rational functions) or frequency-domain (flutter derivatives). Relatively large displacements (at low frequencies) can be generated by the system, if required. Results from three experiments, airfoil, streamlined bridge deck and a bluff-shaped bridge deck, are presented to demonstrate the functionality and robustness of the system and its applicability to multiple cross-section types. The system will allow routine identification of aeroelastic parameters through wind tunnel tests that can be used to predict response of flexible structures in extreme and transient wind conditions.