• 제어로봇시스템학회논문지
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• 제6권8호
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• pp.682-688
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• 2000

To improve the performance of a flexible robot arm one of the important things is the vibration displacement measurement of a flexible arm. Many types of sensors have been used to measure it, The most popular has been strain gauges which measures the deflection of the beam,. Photo sensors have also been for detecting beam displacement and accelerometers are often used to measure the beam vibration. But the vibration displacement can be obtained indirectly from these sensors. In this article a vision sensor is used as a displacement sensor to measure the vibration displacement of a flexible robot arm. Several schemes are proposed to reduce the image processing time and increase its accuracy. From the experimental results it is seen that the vision sensor can be an alternative sensor for measuring the vibration displacement and has a potential for on-line tip position control of flexible robot systems.

• 대한기계학회논문집A
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• 제34권6호
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• pp.701-708
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• 2010

면외평면전단하중과 면내전기하중을 받는 직교이방성 압전재료에서 전기투과형 전파균열장을 해석하였다. 압전재료에서 전파하는 균열의 운동방정식이 유도되었으며 근접해법을 통하여 응력장과 변위장의 해를 얻었다. 압전상수 및 유전율 등이 균열선단의 응력장과 변위장에 미치는 영향을 명확히 나타내었다. 본 연구에서 유도된 응력장과 변위장을 사용하여 압전재료에서 전파하는 균열선단부근의 응력과 변위의 특성에 대하여 논의하였다.

• 대한기계학회논문집A
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• 제38권9호
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• pp.943-951
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• 2014

마이크로/나노 압입시험에 사용되는 각뿔 혹은 원뿔형 압입자의 선단 형상은 제작한계 및 사용 중 마모 등으로 인해 필수적으로 곡면 형태를 띄게 된다. 많은 압입시험 관련 연구에서 각뿔형 압입자의 선단 형상은 편의상 구형으로 가정한 후, 얕은 압입에 대한 구형압입 이론식을 적용하고 있다. 이러한 가정에는 근본적으로 두 가지 문제점이 있는데, 첫 번째로 이론해의 정확성은 재료 물성치 및 압입자 형상에 따라 변화한다는 점이며, 두 번째로 각뿔형 압입자의 실제 선단 형상은 이상적인 구형이 아니라는 점이다. 본 연구에서는 유한요소해석에 기반하여 압입시험에 미치는 이 두 요소의 영향을 분석한다. 먼저 탄성 구형 압입시험에 대해 푸아송비와 하중-변위 곡선의 상관관계를 살펴보고, 이를 기반으로 수정된 구형 탄성 압입 관계식을 제시한다. 이어 가정된 Berkovich 선단 형상의 3차원 유한요소해석으로부터 압입깊이에 따른 하중-변위 곡선의 특성을 분석한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1036-1041
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• 1993

The tip of the flexible robot arm has to be controlled by the active control reducing vibration because it has residual vibration after getting to desired position. This paper presents an end-point position control of a 1-link flexible robot arm having tip mass by the PID control algorithm. The system is composed of a flexible arm with tip mass, dc servomotor and ballscrew mechanism under translational motion. The feedback signal composed of the tip displacement measured by laser sensor, estimated velocity and acceleration is used to control the base motion. Theoretical results are obtained by applying the Laplace transform and the numerical inversion method to the governing equations. After the flexible robot arm reaches to. the desired position, the residual vibration is controlled by the PID algorithm. This paper gives the simulation and experimental results of end-point responses according to changing tip-mass and arm length. And this algorithm shows good effects of reducing the residual vibration. Approximately, theoretical response is in good agreement with experimental one.

• 한국산업융합학회 논문집
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• 제7권4호
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• pp.355-361
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• 2004

The finite element method were used to determine the stress intensity factor of cracked plate. The stress method, displacement method and J Integral are most popular finte element method. ANSYS proposed another a kind of displacement method. In this paper, it was examined that the accuracy and utility of the ANSYS method could believable to determine the stress intensity factors of centered inclined crack. Generally, inclined crack has two portion of stress intensity factors, tensile mode F1 and shear mode F2. For the purpose of increasing the accuracy of stress intensity factors, examined the effect of the numbers of nodes and elements, crack tip element size and number of partition of the crack tip vicinity. It was found that the method proposed by ANSYS is useful and has high accuracy. Accuracy of calculated stress intensity factors was increased by increase of the number of nodes and elements, and at the small size of crack tip elements can get more highly accuracy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.607-612
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• 1992

This paper presents a tip position control of a single-link flexible arm with a payload by using closed loop control. The shifting problem of the arm from the initial position to desired position is considered by the variation of the displacement gain $G_{p}$ and velocity gain $G_{v}$. The system is composed of a flexible arm with payload, DC servomotor, and a ballscrew mechanism. The flexible arm is mounted on a mobile stage driven by a servomotor and ballscrew. As a result, the increase of the displacement and velocity gain respectively comes to the reduction of tip vibration. Theoretical results are approximately in good agreement with those obtained experimentally.y.y.

• International Journal of Automotive Technology
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• 제6권3호
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• pp.229-234
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• 2005

The dynamic crack growth in ductile steel is investigated by means of the impact loaded 3 point bending (3PB) specimens. Results from experiments and numerical simulations are compared to each other. A modified 3PB specimen designed with the reduced width at its ends has been developed in order to avoid the initial compressive loading of the crack tip and also to avoid the uncertain boundary conditions at the impact heads. Numerical simulations of the experiments are made by using a finite element method (FEM) code, ABAQUS. The high speed photography is used to obtain the crack growth and the data of the crack tip opening displacement (CTOD). The direct measurements of the relative rotations of two specimen halves are made by using the Moire interference pattern.

• 대한치과교정학회지
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• 제28권4호
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• pp.563-580
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• 1998

치열의 치군 후방이동을 유발하는 교정력에 의해 발생되는 개개 치아의 초기 변위와 응력분포를 평가하고자 본 연구를 시행하였다. 유한요소법을 이용하여 상악 치아와 치근막, 그리고 치조골의 해부학적 형태와 생체적 특성을 컴퓨터로 재현하고 모형화된 브라켓을 부착한 3 차원 유한요소 모델을 형성하였다. 치열의 치군 후방이동에 사용되는 구외력과 II급 악간고무, ideal arch wire와 MEAW(Multiloop Edgewise Arch Wire), 그리고 호선에 부여된 tip back bend 에 의해 야기되는 치아 변위를 비교, 분석하였다 그리고 이러한 치료방법을 상악 제 2 대구치를 발거한 경우와 발거하지 않은 경우에 각각 적용하여 상악 제 2대구치 존재유무에 따른 치아이동 양상의 변화를 분석한 결과 다음과 같은 결론을 얻었다. 1. 전치부 헤드기어에 의해 발생되는 치아변위는 후방 치체변위와 후방 경사변위, 그리고 수직변위 모두 치열 전방부에 집중되어 있었다. 2. Ideal arch wire에 II급 악간고무를 적용한 경우, 치아변위가 치열 전방부에 집중되었으나 ideal arch wire에 tip back bend를 부여하면 악간고무에 의한 견인력이 후방으로 전달되었다. 부여하는 tip back bend의 양이 증가할수록 전치부의 후방 치체변위와 설측 경사변위는 감소하였고 구치부의 후방 치체변위와 경사변위는 증가하였으며 II급 악간고무에 의한 전치부 정출이 감소하였다. 3. MEAW와 II급 악간고무를 적용한 결과, 치아변위 경향은 ideal arch wire와 II급 악간고무를 사용한 경우와 유사하였으나 작은 양의 치아변위와 함께 치열내 개개치아의 비교적 균등한 이동양상을 보였다. 4. 상악 제 2 대구치가 존재하는 유한요소 모델에 상악 제 1 대구치까지만 교정장치를 장착하고 후방이동을 시도한 결과 상악 제 1 대구치 치아이동이 감소하는 경향을 보였다.

• International Journal of Concrete Structures and Materials
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• 제18권3E호
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• pp.191-198
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• 2006

The objective of this study is to examine fracture characteristics of concrete at early ages, i.g. critical stress intensity factor, critical crack-tip opening displacement, fracture energy, and bilinear softening curve based on the concepts of effective-elastic crack model and cohesive crack model. A wedge splitting test for Mode I was performed on cubic wedge specimens with a notch at the edge. By experimenting with various strengths and ages, load-crack mouth opening curves were obtained, and the results were analyzed by linear elastic fracture mechanics and FEM(finite element method). The results from the test and analysis showed that critical stress intensity factor and facture energy increased while critical crack-tip opening displacement decreased with concrete aging from 1 day to 28 days. Four parameters of bilinear softening curve from 1 day to 28 days were obtained from a numerical analysis. The obtained fracture parameters and bilinear softening curves at early ages from this study are to be used as a fracture criterion and an input data for the finite element analysis of concrete at early ages.

• 한국정밀공학회지
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• 제26권2호
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• pp.35-44
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• 2009

Long stroke Fast Tool Servo (LFTS) with maximum stroke of $432{\mu}m$ is designed, manufactured and tested for fabrication of optical free-form surfaces. The large amount of stroke in LFTS has been realized by utilizing the hinge and lever mechanisms which enable the displacement amplification ratio of 4.3. In this mechanism the peculiar shape was devised for maximizing the displacement of end tip in LFTS and special mechanical spring has been mounted to provide the sufficient preload to the piezoelectric actuator. Also, its longitudinal motion of tool tip can be measured by capacitive type displacement sensor and closed-loop controlled to overcome the nonlinear hysteresis. In order to verify the static and dynamic characteristics of designed LFTS, several features including step response, frequency response and cut-off frequency in closed-loop mode were experimentally examined. Also, basic machining result shows that the proposed LFTS is capable of generating the optical free-form surface as an additional axis in diamond turning machine.