• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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• pp.233-238
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• 2001

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link represented to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M to model complex shaped links systematically and by eleminating elastic mode of higher order that does not largely affect option to reduce the number of elastic degree of freedom. Finally presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.533-538
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• 1991

In the design and operation of robot arms with flexible links, the equations of motion are required to exactly model the interaction between rigid motion and elastic motion and to be formulated efficiently. Thus, the flexible link is represented on the basis of the D-H rigid link representation to measure the elastic deformation. The equations of motion of robot arms, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated by using F.E.M. to model complex shaped links systematically and by eliminating elastic mode of higher order that does not largely affect motion to reduce the number of elastic degree of freedom. Finally, presented is the result of simulation to flexible robotic arm whose joints are controlled by direct or PD control,

• Structural Engineering and Mechanics
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• 제12권4호
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• pp.397-408
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• 2001

Bolted connections are used commonly in the precast reinforced concrete structures. In such structures, to perform structural analysis, behaviour of connections must be determined. In this study, elastic rotation stiffness of semi-rigid bolted beam connections, applied in industrial precast structures, are determined by finite element methods. The results obtained from numerical solutions are compared with an experimental study carried out for the same connections. Furthermore, stress distributions of the connection zone are determined and a reinforcement scheme is proposed. Thus, a more appropriate reinforcement arrangement for the connection zone is enabled. The connection joint of the prefabricated frame is described as rigid, hinged or elastic, and a static analysis of the frame system is performed for each case. Values of bending moments and displacements obtained from the three solutions are compared and the effects of elastic connection are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.254-259
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• 1992

In this paper, we propose an optimal method for the tracking a trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint equations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation of flexible planner manipulator is presented.

• Structural Engineering and Mechanics
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• 제6권4호
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• pp.467-471
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• 1998

A mathematical model is developed to predict the fatigue notch factor of butt welds subject to number of parameters such as weld geometry, residual stresses under dynamic combined loading conditions (tensile and bending). Linear elastic fracture mechanics, finite element analysis, dimensional analysis and superposition approaches are used for the modelling. The predicted results are in good agreement with the available experimental data. As a result, scatters of the fatigue data can be significantly reduced by plotting S-N curve as ($S{\cdot}K_f$) vs. N.

• 한국도로학회논문집
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• 제10권2호
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• pp.145-157
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• 2008

하중전달효율은 다웰이 설치되었거나 설치되지 않은 콘크리트포장 줄눈의 구조적 성능을 나타내기 위해 사용된다. ABAQUS 소프트웨어를 사용한 줄눈 콘크리트장의 3차원 모형이 본 연구를 통하여 구축되었다. 기층과 노상이 접착되어 구성된 하부층 위에 3개의 슬래브가 놓였으며, 스프링 요소를 사용하여 인접한 슬래브를 줄눈에서 연결하였다. 콘크리트포장의 다양한 줄눈강성을 모사하기 위하여 다양한 값의 스프링 상수를 입력값으로 사용하여 그 관계를 조사하였으며, 스프링 상수가 커질수록 줄눈의 하중전달효율이 증가하는 것으로 나타났다. 슬래브와 기증의 다양한 탄성계수와 두께를 사용하여 슬래브의 거동과 하중전달효율에 미치는 재료물성과 기하학적 형상의 영향을 분석하였다. 그 결과 노상의 탄성계수는 기층의 탄성계수와 슬래브 및 기층의 두께보다 더 큰 영향을 미치는 것으로 나타났다. 또한 양 또는 영의 온도구배에서보다는 음의 온도구배에서 슬래브의 거동과 하중 전단효율이 더 민감 하게 변화하였으며, 낮은 강성의 줄눈은 슬래브의 온도구배에 더 민감한 것으로 나타났다.

• 대한기계학회논문집
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• 제16권10호
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• pp.1841-1852
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• 1992

본 연구에서는 Fig.1과 같이 원형튜브 형태로된 시편과 실린더 형태의 시편을 Single Lap Joint의 형태로 접착하여 접착제의 두께에 대한 정적 비틀림 강도특성을 실험하였으며, 접착제의 경화시 외부에서 가해주는 열로 인한 열 잔류응력의 영향에 대한 연구를 수행하였다. 또한 이론적인 해석과 상용 프로그램인 ANSYS를 이용하여 유한요소해석을 병형하여 실험결과와 비교 검토하였다.

• KCI Concrete Journal
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• 제12권2호
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• pp.45-54
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• 2000

Precast R.C. slabs are being used widely for the construction of bridge structures due to their simplicity in construction processes. However, one of the disadvantages in precast R.C. slabs is the existence of transverse joints between two precast slabs. The transverse joints are structurally fragile and the task of strengthening the joints is difficult one due to their structural discontinuity. The aim of this study was to improve the behavior of transverse joints between precast R.C. slabs by introducing prestress with external cables. Three steel-concrete composite bridge specimens, which were prestressed with the external cables anchored on steel girders, were fabricated in the laboratory. Both pretension and post-tension methods were applied to introduce prestressing on the concrete slab with a straight tendon arrangement. Static tests were conducted at service load and ultimate load test was performed to evaluate punching shear capacity of the transverse joint. In this paper, two prestressing methods were tested and their effects were evaluated with respect to the elastic behavior and ultimate loading capacity of the transverse joints.

• Steel and Composite Structures
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• 제26권5호
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• pp.621-634
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• 2018

Flush end-plate (FEP) beam-to-column joints are commonly used for gravity load resisting parts in steel multi-storey buildings. However, in seismic resisting structures FEP joints should also provide rotation capacity consistent with the global structural displacements. The current version of EN1993-1-8 recommends a criterion aiming at controlling the thickness of the end-plate in order to avoid brittle failure of the connection, which has been developed for monotonic loading conditions assuming elastic-perfectly plastic behaviour of the connection's components in line with the theory of the component method. Hence, contrary to the design philosophy of the hierarchy of resistances implemented in EN1998-1, the over strength and the hardening of the plastic components are not directly accounted for. In light of these considerations, this paper describes and discusses the results obtained from parametric finite element simulations aiming at investigating the moment-rotation response of FEP joints under cyclic actions. The influence of bolt diameter, thickness of end-plate, number of bolt rows and shape of beam profile on the joint response is discussed and design requirements are proposed to enhance the ductility of the joints.

• 기술사
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• 제19권4호
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• pp.5-10
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• 1986

On SWS 41 Plates jointed by the F11T M 20 high strength bolts the study on stress behavior and safety degree until rupture in static tensile tests were performed. By these results, in case of no clamping force stress concentration was extremed for strain of about 10% higher ratio. Elastic strain occurred to change of test specimens depth by the load and plastic strain occurred to local minute sleep after elastic strain. compared shear stress with tension stress from the fracture load it was showned lower values than the maximum shear stress theory and stress strain energy theory.