• 대한기계학회논문집A
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• 제29권2호
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• pp.247-252
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1633-1642
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• 2000

Like many other mechanical dynamic systems, flexible manipulator systems experience stiction or sticking friction, which may cause input-dependent instabilities. Manipulator performance can be enha nced by identifying friction but it is hard and expensive to measure friction by direct and precise sensing of contact displacements and forces. This study addresses the problem of identifying flexible manipulator joint friction. A dynamic model of a two-link flexible manipulator based upon finite element and Lagrange's method is constructed. The dynamic model includes the effects of joint compliances and actuator dynamics. Friction is also incorporated in the dynamic model to account for stick-slip at the joints. Next, the friction parameters are to be determined. The identification problem is posed as an optimization problem to be solved using nonlinear programming methods. A genetic algorithm is used to increase the convergence rate and the chances of finding the global optimum. The identified friction parameters are experimentally verified and it is expected that the identification technique is applicable to a system parameter identification problem associated with a wide class of nonlinear systems.

• 한국공작기계학회논문집
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• 제17권6호
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• pp.71-76
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• 2008

The focus of this paper is the designing a flexible three fingered hand system with 16 D.O.F for dynamic manipulation with an intelligent controller, and to build a useful database for dynamic manipulation based on the experimental results. The weight of the hand module is only 0.7 kg, but flexible motion and powerful grasping are possible. To achieve such a dynamic motion in a robotic hand, we have developed a flexible fingered hand with a control system incorporating image recognition system in which we deal with the problems of not only accuracy and range of motion but also the flexibility of hand. The fingers are arranged so as to grasp both circular and prismatic objects. In order to achieve the light mechanism, we reduced the number of joints and fingers as much as possible. We used three fingers, which is the minimum number to achieve a stable grasp.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.305-311
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.573-576
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• 2005

This research presents a three-dimensional modeling technique for a flexible sheet. A relative coordinate formulation is used to represent the kinematics of the sheet. The three-dimensional flexible sheet is modeled by multi-rigid bodies interconnected by out-of-plane joints and plate force elements. A parent node is designated as a master body and is connected to the ground by a floating joint to cover the rigid motion of the flexible sheet in space. Since the in-plane deformation of a sheet such as a paper and a film is relatively small, compared to out-of-plane deformation, only the out-of-plane deformation is accounted for in this research. The recursive formulation has been adopted to solve the equations of motion efficiently. An example is presented to show the validity of the proposed method.

• 한국운동역학회지
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• 제32권2호
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• pp.37-42
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• 2022

Objective: The aim of this study is to analyze the effect of the strength of the ankle support on the walking characteristics and ankle joints when men with flexible flat feet walk. Method: 13 adult male subjects (age: 23.9 ± 2.4 yrs, height: 173.0 ± 5.0 cm, weight: 76.9 ± 13.2 kg, Navicular Drop Test (NDT): 10.2 ± 0.8 mm) participated in this study. Each participant had to walk with the 3 conditions, barefoot, soft arch support and hard arch support, along a walkway while their kinematics was recorded at 100 Hz. Results: Based on the results of this study, it is considered that men with flexible flat feet should use hard arch support rather than bare feet to induce normal arch shape, relieve foot damage caused by excessive ankle joint abnormalities and improve stability. Conclusion: Our results for men with flat flexibility, there was a significant difference in the value of step length when walking was performed using two arch supports with different strengths. The angle of ankle dorsiflexion was significantly increased, and the ankle eversion angle was significantly decreased.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2007년도 정기 학술대회 논문집
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• pp.151-156
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• 2007

Topology optimization has been widely used in many research areas due to its ability in providing intial designs for the problems with complex boundary conditions. This also has been useful in compliant mechanisms, but resulting layouts may not be immediately manufacturable because they usually consist of members with varying widths and shapes. Also, there occurs some numerical difficulties such as checkerboards or hinge patterns which result from 1-node connection, and intermediate values which make the manufacturing of the designed structure difficult. Though there are many remedies given to avoid this problems, they cannot be prevented. One may avoid this difficulty by employing uniform ground beams and explicit hinge joints. The proposed method is to connect uniform ground beams with elastic short-beam hinge joints. By choosing the widths of short beams as design variables, dominant deformations can occur mainly by flexible joints having intermediate widths. Unlike the conventional methods used for compliance minimization, intermediate widths must appear in compliant mechanism design problems. Also, the present approach does not encounter the problem of one-point hinges.

• Ocean Systems Engineering
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• 제14권1호
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• pp.1-16
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• 2024

This paper investigates the impact of local joint flexibility (LJF) on the fatigue life of jacket-type offshore platforms. Four sample platforms with varying geometric properties are modeled and analyzed using the Opensees software. The analysis considers the LJF of tubular joints through the equivalent element and flexible link approaches, and the results are compared to rigid modeling. Initially, modal analysis is conducted to examine the influence of LJF on the frequency content of the structure. Subsequently, fatigue analysis is performed to evaluate the fatigue life of the joints. The comparison of fatigue life reveals that incorporating LJF leads to reduced fatigue damage and a significant increase in the longevity of the joints in the studied platforms. Moreover, as the platform height increases, the effect of LJF on fatigue damage becomes more pronounced. In conclusion, considering LJF in fatigue analysis provides more accurate results compared to conventional methods. Therefore, it is essential to incorporate the effects of LJF in the analysis and design of offshore jacket platforms to ensure their structural integrity and longevity.

• 한국융합학회논문지
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• 제6권3호
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• pp.13-18
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• 2015

본 논문은 신축이음으로 배관과 배관사이에 연결되어 압력과 온도를 조절하는 이음의 안전설계에 관한 연구이다. 본 연구의 목적은 외기와 수송유체의 압력으로 인한 팽창과 수축에 의한 파이프 손상의 문제를 해결하고자 하여 파이프에 작용하는 과중한 압력을 감소시키고 사고발생을 예방하고자 하고자 한다. 3가지 유형의 신축이음을 적용하여 각각의 모델의 유동특성을 시뮬레이션 해석을 통하여 관찰한다. 각각의 모델의 형상에 따라 슬리브형, 벨로우즈형, 루프형의 신축이음 특성을 분류한다. 또한 수송 유체가 신축이음을 통과할 때, 배관에서의 열과 압력, 속도의 유동특성을 분석한다. 본 연구의 결과를 이용하면 신축이음 형상에 따른 안전설계에 기여할 수 있을 것으로 판단된다. 또한, 디자인 면에서 융합 기술로의 접목도 가능하여 미적인 감각을 나타낼 수 있다.

• 기본간호학회지
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• 제11권2호
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• pp.186-194
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• 2004

Purpose: The purpose of this study was to describe the subjective health status of joints, flexibility of joints, muscle strength and state of Joint exercise in elderly people living in the community. Method: The participants were 74 elderly people in a health program of the Gerontological Health Research Center at G University. The data were collected from March to July, 2003. The instrument for the study included items on general characteristics (5 items), subjective health status of joints (10 items), flexibility of Joints and strength of muscle (8 items), and state of joint exercise (7 items). Results: The score for subjective health status of joints was 3.70 (range 1-5). Knee and waist joints were in the worst state. Neck extension and flexion were $17.38{\pm}1.80$ and $.60{\pm}1.08(cm)$ respectively. Trunk extension and flexion were $68.24{\pm}4.47$ and $58.00{\pm}4.91(cm)$ respectively. Flexibility of the Rt./Lt. shoulder joints was $14.63{\pm}12.51/18.82{\pm}13.80(cm)$. Muscle strength of the Rt./Lt. leg was $30.47{\pm}19.68/29.67{\pm}21.22$ (sec.). Shoulder joints were more flexible for men and people in their sixties compared to women and people in their seventies. Hand grip was stronger for men compared to women. The score for state of joint exercise was 2.83(range 1-4). The state of handgrip correlated with the state of joint exercise [r=.423 (Rt.)/r=.273(Lt.)]. Conclusion: To prevent falls and disorders in neuromuscular function, it is important to develop systemic joint exercise programs for elderly people.