• Journal of the Korean Society of Manufacturing Process Engineers
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• v.2 no.4
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• pp.33-39
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• 2003

The stiffness of multi-articulated industrial robots is very weak, because their structure is an articulated type with some links and joints. Thus it is known that cutting processes for metals are not accepted in machine shop well, but they have a lot of merits for cutting processes, for example, drilling, tapping, and engraving etc, because of the characteristics of their high degree of freedom. The temptation of cutting aluminium was carried out to investigate the feasibility and the limitations or constraints for cutting metals on them. First the mode shapes of 6 degree of freedom welding robot were taken and analysed, and next the cutting processes were practically carried out on it. The results of study were found out to show the feasibility of cutting processes at drilling under 6mm of tool diameter, as well as to have some limitations and constraints, for examples, feed rate, depth of cut and cutting force etc.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1998.10a
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• pp.27-34
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• 1998

A versatile flat shell element has been developed by combining a membrane element with drilling degree-of-freedom and a plate bending element. This element is formulated by the enhanced displacement field with the additional non-conforming displacement modes. Thus the element possesses six degrees-of-freedom (DOF) per node which permits an easy connection to other six DOF elements as well as the improvement of the element behavior. In plate bending part, this element is established by the combined use of the addition of non-conforming modes, the reduced (or selective) integration scheme, and the construction of the substitute shear strain fields. The achieved improvement may be attributable to the fact that the merits of these individual techniques are merged into the new element in a complementary manner. In membrane part, this element shows better membrane behavior as the nonconforming displacement mode is added to drilling mode.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.438-441
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• 2002

Today, it is concentrating on automation and these appearance of industrial robot has been dealing flexibly with this field. If it is drilling through these industrial robot, it will be a high efficiency of the productivity. Therefore, electric drill is setting on articulated robot with six degree of freedom and the 5 face is drilling as the type of articulated robot by a machine object setting. This study was carried out to get the possibility about drilling as analyzing with experimental frequency, original vibration of robot and appearance of vibration when it is practical drilling.

• Interaction and multiscale mechanics
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• v.4 no.4
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• pp.273-289
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• 2011

The vibration response of the bridges under the moving vehicular load is of importance for engineers to estimate the serviceability of existing bridges and to design new bridges. This paper deals with the three dimensional vibration analysis of prestressed concrete bridges under moving vehicles. The prestressed bridges are modeled by four-node isoparametric flat shell elements with the transverse shearing deformation taken into account. The usual five degrees-of-freedom (DOFs) per node of the element are appended with a drilling DOF to accommodate the transformation of the local stiffness and mass matrices to the global coordinates. The vehicle is modeled as a single or two-DOF system. A single-span prestressed Tee beam and two-span prestressed box-girder bridge are studied as the two numerical examples. The effects of prestress forces on the natural frequencies and dynamic responses of the bridges are investigated.

• Structural Engineering and Mechanics
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• v.8 no.2
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• pp.207-231
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• 1999

A versatile 4-node shell element which is useful for the analysis of arbitrary shell structures is presented. The element is developed by flat shell approach, i.e., by combining a membrane element with a Mindlin plate element. The proposed element has six degrees of freedom per node and permits an easy connection to other types of finite elements. In the plate bending part, an improved Mindlin plate has been established by the combined use of the addition of non-conforming displacement modes (N) and the substitute shear strain fields (S). In the membrane part, the nonconforming displacement modes are also added to the displacement fields to improve the behavior of membrane element with drilling degrees of freedom and the modified numerical integration (M) is used to overcome the membrane locking problem. Thus the element is designated as NMS-4F. The rigid link correction technique is adopted to consider the effect of out-of-plane warping. The shell element proposed herein passes the patch tests, does not show any spurious mechanism and does not produce shear and membrane locking phenomena. It is shown that the element produces reliable solutions even for the distorted meshes through the analysis of benchmark problems.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.19 no.3 s.73
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• pp.223-231
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• 2006

This study deals with behavior characteristics of laminated composite folded structures according to ratio of folded length based on a higher-order shear deformation theory. Well-known mixed finite element method using Lagrangian and Hermite shape interpolation functions is a little complex and have some difficulties applying to a triangular element. However, a higher-order shear deformation theory using only Lagrangian shape interpolation functions avoids those problems. In this paper, a drilling degree of freedom is appended for more accurate analysis and computational simplicity of folded plates. There are ten degrees of freedom per node, and four nodes per element. Journal on folded plates for effects of length variations is not expressed. Many results in this study are carried out according to ratio of folded length. The rational design is possible through analyses of complex and unpredictable laminated composite folded structures.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.20 no.1
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• pp.29-37
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• 2007

This study deals with displacement analysis of anisotropic folded structures with triangular elements and quadrilateral elements. When folded plates are analyzed, triangular elements as well as quadrilateral elements are needed for conveniences of modelling. However, using triangular elements is not a simple problem. A simple formulation is presented which allows a quadrilateral element to degenerate into a triangular element. Therefore it can easily be used for computational simplicity and avoided complexities on mixed use of triangular element and quadrilateral element. In this paper, a high-order shear deformation theory using only Lagrangian interpolation functions and drilling degrees of freedom for folded plates are utilized for more accurate analysis. Especially, various results of anisotropic laminated and folded composite structures with triangular element and quadrilateral element show the structural behavior characteristics of them.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.621-625
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• 2005

This paper presents a new hybrid serial-parallel robot(HSPR), which has six degrees of freedom driven by ball screw linear actuators and motored joints. This hybrid robot design presents a compromise between high rigidity of fully parallel manipulators and extended workspace of serial manipulators. The hybrid robot has a large, singularity-free workspace and high stiffness. Therefore, the presented kinematic structure of the hybrid robot is particularly suitable for multi-tasking machining processes such as milling, drilling, deburring and grinding. In addition to the machining processes, the hybrid robot can be used for welding, fixturing, material handling and so on. The study on design of the hybrid robot is performed. A kinematic analysis and mechanism description of the hybrid robot with six-controlled degree of freedom is presented. In the virtual design works by DADS, workspace and force analysis are discussed. A numerical model is treated to demonstrate our analysis and to determine the range of permissible extension of the struts. Also, we determine some important design parameters for the hybrid robot.

• Bulletin of the Society of Naval Architects of Korea
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• v.13 no.2
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• pp.13-43
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• 1976

A potential flow approach is used to develop a method and an associated computer program for floating marine structures of general configuration in wave of all water depths with arbitrary heading. It computes the total force distributions and six degrees-of-freedom motion. The hydrodynamic-force equations and derived become identical under certain assumptions to the equations commonly used by the offshore industry, and the two methods are compared in detail. The computed motions of all six degree agree quite well with model-scale and full-scale experimental data for two typical semisubmersible drilling rigs in finite-depth water. Also the presented motion computations are more accurate than a previous work by the second approach. The present computations use experimentally validated or determined values of frequency-dependent hydrodynamic coefficients with the effects of the free surface and both finite and infinite water depths. The present method generates sufficient computation accuracy to use for practical design applications.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1772-1775
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• 2003

The stiffness of multi-articulated industrial robots is very weak, because their structure is an articulated type with some links and joints. Thus it is known that cutting processes for metals are not accepted in machine shop well, but they have a lot of merits for cutting processes, for example. drilling, tapping. and engraving etc., because of the characteristics of their high degree of freedom. The temptation of cutting aluminium was carried out to investigate the feasibility and the limitations or constrains for cutting metals on them. First the mode shapes of 6-axes FANUC welding robot were taken and analysed, and next the cutting processes were practically carried out on it. The results of study were found out to show the feasibility of cutting processes at end-milling under 6mm of tool diameter. as well as to have some limitations and constrains, for examples, surface roughness and feed rate, depth of cut, cutting force etc..