• 로봇학회논문지
• /
• 제14권4호
• /
• pp.326-332
• /
• 2019

In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.

• 대한기계학회논문집
• /
• 제18권4호
• /
• pp.846-855
• /
• 1994

An effective stiffness, analogous to that of a wound spring, can be created by antagonistic redundant actuation of general closed-chain mechanisms. The qualitative and quantitative characteristics of the effective stiffness are investigated through a Four-bar mechanism, and a load distribution method is introduced which simultaneously guarantees the required system motion and the effective stiffness of the Four-bar mechanism. Furthermore, a simulation is performed to understand the inter-relationship among the effective stiffness, the Four-bar geometry, and the actuation effort. Based on this analysis, the Four-bar synthesis problem for effective stiffness generation is discussed.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.631-637
• /
• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.

• 제어로봇시스템학회논문지
• /
• 제13권4호
• /
• pp.320-328
• /
• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• 한국강구조학회 논문집
• /
• 제29권2호
• /
• pp.99-110
• /
• 2017

본 연구는 부유식 구조물의 위치 제어를 위한 계류 체인 링크의 휨 거동에 대해 다룬다. 일반적으로 체인 구조는 링크 간 연결조건에 따라 축력만 전달하는 구조체로 인식되었다. 그러나 체인에 강한 인장력이 작용할 때, 접촉하는 두 링크 간의 마찰력에 의해 휨 강성이 도입되게 된다. 특히, 부유식 플랫폼의 계류선은 강한 인장력이 유지되는데, 물리적으로는 긴장 상태에 있는 체인 링크 간 접촉면에 마찰특성에 의해 휨 강성이 도입되면 환경하중을 받는 플랫폼에 회전 운동이 발생할 때, 계류선에도 회전 변위를 일으키고 이는 결과적으로 설계 시 고려하지 못한 휨모멘트 및 휨응력이 체인에 작용하게 된다. 실제 2005년 Girrasol Buoy 플랫폼의 해상 설치 후 5개월 만에 파손된 계류 체인의 사고 조사 시 주요 원인으로 이러한 휨 거동에 의한 부가 피로손상 누적이 지적되었다. 본 연구에서는 비선형 유한요소해석을 통해 긴장상태에 있는 체인에 도입되는 휨 강성 및 휨 응력의 특성에 대해 분석한다.

• 한국해양공학회지
• /
• 제35권6호
• /
• pp.426-433
• /
• 2021

In this study, three types of synthetic fiber materials were evaluated, namely, DM20, SK78, and T147, to replace steel chains in shipbuilding and offshore fields with fiber chains as there is increasing demand for chains with lighter weights and improved usabilities. The strength and quasi-static stiffness were analyzed to select suitable yarns for the fiber chains. The durability of the yarn was evaluated by performing a 3-T (time to rupture) test as a specific tension level. The results of the experiment revealed excellent dynamic stiffness in DM20 and highest values of the windward and leeward stiffness in T147. 3-T linear design characteristic curves for a specific tension level were derived for the three types of fiber materials. The findings of this study can provide insights for improving strength and durability in fiber chain design.

• 한국생산제조학회지
• /
• 제23권2호
• /
• pp.164-172
• /
• 2014

This paper presents a method for analyzing the stiffness of full and low DOF (degree of freedom) planar parallel manipulators with serially connected legs. The individual stiffness of each leg is obtained by applying reciprocal screws to the leg twist using passive joints and elastic elements consisting of actuators and links. Because the legs are connected in parallel, the manipulator stiffness is determined by summing the individual leg stiffness values. This method does not require the assumption that springs should be located along reciprocal screws and is applicable to a planar parallel manipulator with a generic or singular configuration. The stiffness values of three planar parallel manipulators with different DOFs are analyzed. The numerical results are confirmed using ADAMS S/W.

• 한국해양공학회지
• /
• 제31권4호
• /
• pp.299-307
• /
• 2017

The design of the mooring line to maintain the position of an offshore structure in rough marine environments is recognized as a very important consideration. Conventional fatigue evaluation of a mooring line was performed by considering the tensile force acting on the mooring line, but the mooring line broke after 238 days in the girassol area even though the expected fatigue life was expected to be longer. The causes of this event are known to be due to OPB/IPB (out-of-plane bending/in-plane bending) caused by chain link friction due to the excessive tensile strength of the mooring line. In this study, three models with different boundary conditions were proposed for fatigue analysis of a mooring line considering OPB/IPB. Interlink stiffness was calculated by nonlinear structure analysis and a stress concentration factor was derived. In addition, the sensitivity of interlink stiffness according to the magnitude of tensile force, large deformation effect, and coefficient of friction was analyzed, and the effect of critical elastic slip and bending moment calculation position on interlink stiffness was confirmed.

• International Journal of Naval Architecture and Ocean Engineering
• /
• 제11권1호
• /
• pp.178-201
• /
• 2019

The appropriate design of a mooring system to maintain the position of an offshore structure in deep sea under various environmental loads is important. Fatigue design of the mooring line considering OPB/IPB(out-of-plane bending/in-plane bending) became an essential factor after the incident of premature fatigue failure of the mooring chain due to OPB/IPB in the Girassol region in West Africa. In this study, mooring line fatigue analysis was performed considering the OPB/IPB of a spread moored FPSO in deep sea. The tension of the mooring line was derived by hydrodynamic analysis using the de-coupled analysis method. The floater motion time histories were calculated under the assumption that the mooring line behaves in quasi-static manner. Additional time domain analysis was carried out by prescribing the obtained motions on top of the selected critical mooring line, which was determined based on spectral fatigue analysis. In addition, nonlinear finite element analysis was performed considering the material nonlinearities, and both the interlink stiffness and stress concentration factors were derived. The fatigue damage to the chain surface was estimated by combining both the hydrodynamic and stress analysis results.

• Elastomers and Composites
• /
• 제36권1호
• /
• pp.30-36
• /
• 2001

이 연구의 목적은 카본블랙이 충전된 천연고무에서 비 등방성 발생에 영향을 주는 인자를 조사하기 위함이다. 고분자 사슬의 방향성은 인장특성에 영향을 준다. Pre-strained 방향의 parallel 시편은 등방성 혹은 perpendicular 시편에 비하여 낮은 인장영역에서 낮은 강도를 보이지만 높은 신장영역에서 높은 강도를 보인다. 고 인장 영역에서 parallel한 천연고무 시편은 비결정성인 SBR에 비하여 높은 강도를 보여주고 있다. 이것은 parallel 시편의 방향성에 영향을 받는 것으로, 시편의 방향성은 2차 인장시 결정화를 위한 핵으로 작용하여 결정화도를 증가시키는 것으로 보인다.