• Structural Engineering and Mechanics
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• 제63권5호
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• pp.691-702
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• 2017

Clearances are essential for the assemblage of mechanisms to allow the relative motion between the joined bodies. This clearance exists due to machining tolerances, wear, material deformations, and imperfections, and it can worsen the mechanism performance when the precision and smoothly-working are intended. Energy is a subject which is less paid attention in the area of clearance. The effect of the clearance on the energy of a flexible slider-crank mechanism is investigated in this paper. A clearance exists in the joint between the slider and the coupler. The contact force model is based on the Lankarani and Nikravesh model and the friction force is calculated using the modified Coulomb's friction law. The hysteresis damping which has been included in the contact force model dissipates energy in clearance joints. The other source for the energy loss is the friction between the journal and the bearing. Initial configuration and crank angular velocity are changed to see their effects on the energy of the system. Energy diagrams are plotted for different coefficients of friction to see its influence. Finally, considering the coupler as a flexible body, the effect of flexibility on the energy of the system is investigated.

• 로봇학회논문지
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• 제14권1호
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

• 대한기계학회논문집A
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• 제40권8호
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• pp.759-765
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• 2016

항공기 등에 사용되는 Flexible PTO(Power Take-Off) 샤프트는 스프링 특성을 좋게 하기 위해 여러장의 얇은 멤브레인을 용접한 형태로 1950년대에 이미 개발됐으며, AMAD(Aircraft Mounted Accessory Drive) 기어박스와 EMAD(Engine Mounted Accessary Drive) 기어박스 사이에서 회전동력을 전달한다. 이런 종류의 샤프트는 가볍고 특히 스프링 특성이 좋기 때문에 축 정렬이 틀어진 고속회전 상태에서도 안정적으로 회전동력을 전달할 수 있어 대부분의 전투기에 사용된다. 이번 연구에서 티타늄 합금으로 개발된 Flexible PTO 샤프트의 구조해석을 통해 제품의 안전성을 확인하였고, 실제 실험실에서 진행된 고속회전 시험에서 굽힘과 비틀림 부하를 동시에 인가하여 샤프트의 고주기 피로에 대한 내성을 실증하였다. 또한, 고주기 피로 시험 조건에서 항공기용 볼 조인트의 마모 특성 분석을 통해 수명을 예측하였다.

• 한국세라믹학회지
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• 제55권5호
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• pp.492-497
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• 2018

This paper reports the efficacy of tape casting using an Ag-10 wt% CuO filler for the successful joining of a sintered $Ce_{0.9}Gd_{0.1}O_{2-{\delta}}-La_{0.7}Sr_{0.3}MnO_{3{\pm}{\delta}}$ (GDC-LSM) ceramic with a SUS 460 FC metal alloy by reactive air brazing. The as-prepared green tape was highly flexible without drying cracks, and the handling was easy when used as a filler material for reactive air brazing. Heat treatment for the GDC-LSM/SUS 460 FC joint was performed at $1050^{\circ}C$ for 30 min in air. Microstructural observations indicated a reliable and compact joining. The room temperature mechanical shear strength of the as-brazed joints was $60{\pm}8MPa$ with a cohesive failure. The flexural strength of joints was measured from room temperature up to $850^{\circ}C$, where the strength retention revealed to be almost 100% at $500^{\circ}C$. However, the joints showed a degradation in strengths at 800 and $850^{\circ}C$, exhibiting strength retentions of 57% and 37%, respectively.

• 마이크로전자및패키징학회지
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• 제29권2호
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• pp.113-119
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• 2022

플렉서블, 웨어러블 디바이스 등을 포함한 차세대 전자 기기의 기계적 신뢰성 향상을 위하여 다양한 유연 접합부에서 높은 수준의 기계적 신뢰성이 요구되고 있다. 기존 고분자 기판 접합을 위한 에폭시 등의 유기 접착소재는 접합부 두께 증가가 필연적이며, 반복 변형, 고온 경화에 의한 열기계적 파손 문제를 수반한다. 따라서 유연 접합을 위해서 접합부 두께를 최소화하고 열 손상을 방지하기 위한 저온 접합 공정 개발이 요구된다. 본 연구에서는 플렉서블 기판의 유연, 강건, 저 열 손상 접합이 가능한 플렉서블 레이저 투과 용접(flexible laser transmission welding, f-LTW)를 개발하였다. 유연 기판 위 탄소나노튜브(carbon nanotube, CNT)를 박막 코팅하여 접합부 두께를 줄였으며, CNT 분산 빔 레이저 가열을 통한 고분자 기판 표면의 국부적 용융 접합 공정이 개발되었다. 짧은 접합 공정 시간과 기판의 열 손상을 최소화하는 레이저 공정 조건을 구축하였으며 고분자 기판과 CNT 접합 형성 메커니즘을 분석하였다. 또한 접합부의 강건성 및 유연성 평가를 위해 인장강도 시험, 박리 시험과 반복 굽힘 시험을 진행하였다.

• 마이크로전자및패키징학회지
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• 제25권4호
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• pp.155-161
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• 2018

강성도가 서로 다른 polydimethylsiloxane (PDMS) 탄성고분자와 flexible printed circuit board (FPCB)로 이루어진 PDMS/FPCB 구조의 강성도 국부변환 신축기판에 $100{\mu}m$ 직경의 Cu/Au 범프를 갖는 Si 칩을 anisotropic conductive adhesive (ACA)를 사용하여 플립칩 본딩 후, ACA내 전도성 입자에 따른 플립칩 접속저항을 비교하였다. Au 코팅된 폴리머 볼을 함유한 ACA를 사용하여 플립칩 본딩한 시편은 $43.2m{\Omega}$의 접속저항을 나타내었으며, SnBi 솔더입자를 함유한 ACA로 플립칩 본딩한 시편은 $36.2m{\Omega}$의 접속저항을 나타내었다. 반면에 Ni 입자를 함유한 ACA를 사용하여 플립칩 본딩한 시편에서는 전기적 open이 발생하였는데, 이는 ACA내 Ni 입자의 함유량이 부족하여 entrap된 Ni 입자가 하나도 없는 플립칩 접속부가 발생하였기 때문이다.

• Journal of Welding and Joining
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• 제35권3호
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• pp.7-14
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• 2017

The effect of high temperature-moisture on corrosion and mechanical properties for Sn-0.7Cu, Sn-3.0Ag-0.5Cu (SAC305) solders on flexible substrate was studied using Highly Accelerated Temperature/Humidity Stress Test (HAST) followed by three-point bending test. Both Sn-0.7Cu and SAC305 solders produced the internal $SnO_2$ oxides. Corrosion occurred between the solder and water film near flexible circuit board/copper component. For the SAC305 solder with Ag content, furthermore, octahedral corrosion products were formed near Ag3Sn. For the SAC305 and Sn-0.7Cu solders, the amount of internal oxide increased with the HAST time and the amount of internal oxides was mostly constant regardless of Ag content. The size of the internal oxide was larger for the Sn-0.7Cu solder. Despite of different size of the internal oxide, the fracture time during three-point bending test was not significantly changed. It was because the bending crack was always initiated from the three-point corner of the chip. However, the crack propagation depended on the oxides between the flexible circuit board and the Cu chip. The fracture time of the three-point bending test was dependent more on the crack initiation than on the crack propagation.

• 한국운동역학회지
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• 제26권2호
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• pp.167-174
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• 2016

Objective: The purpose of this study was to determine the interrelationship between ranges of motion of the knee and ankle joints on the sagittal plane and the attenuation magnitude of impact shock at high frequency (9~20 Hz) in the support phase during downhill running. Method: Fifteen male heel-toe runners with no history of lower extremity injuries were recruited for this study (age, $25.07{\pm}5.35years$; height, $175.4{\pm}4.6cm$; mass, $75.8{\pm}.70kg$). Two uniaxial accelerometers were mounted to the tuberosity of tibia and sacrum, respectively, to measure acceleration signals. The participants were asked to run at their preferred running speed on a treadmill set at $0^{\circ}$, $7^{\circ}$, and $15^{\circ}$ downhill. Six optical cameras were placed around the treadmill to capture the coordinates of the joints of the lower extremities. The power spectrum densities of the two acceleration signals were analyzed and used in the transfer function describing the gain and attenuation of impact shock between the tibia and the sacrum. Angles of the knee and ankle joints on the sagittal plane and their angle ranges were calculated. The Pearson correlation coefficient was used to test the relationship between two variables, the magnitude of impact shock, and the range of joint angle under three downhill conditions. The alpha level was set at .05. Results: Close correlations were observed between the knee joint range of motion and the attenuation magnitude of impact shock regardless of running slopes (p<.05), and positive correlations were found between the ranges of motion of the knee and ankle joints and the attenuation magnitude of impact shock in $15^{\circ}$ downhill running (p<.05). Conclusion: In conclusion, increased knee flexion might be required to attenuate impact shock during downhill and level running through change in stride or cadence while maintaining stability, and strong and flexible ankle joints are also needed in steeper downhill running.

• Journal of Biosystems Engineering
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• 제31권1호
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• pp.52-58
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• 2006

Various robots were developed for harvesting fruits and vegetables. However, each robot was designed for a specific task such as harvesting apples or vegetables. This has been a big hurdle in application of robots to agriculture. A new type of hybrid manipulator with both parallel and serial joints was developed and designed to apply to various kinds of field operations. The hybrid manipulator had 2 extra degree of freedom in serial joints which made it flexible in switching one to the other type of hybrid manipulator, for example, PUMA to SCARA. And it was designed to harvest heavy fruits such as musky melons or water melons even behind leaves or branches of tree. This hybrid manipulator showed less than $\pm1mm$ position error. It was concluded that the hybrid manipulator was an effective and feasible tool to perform various works and to increase working performance.

• Computers and Concrete
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• 제29권2호
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• pp.69-79
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• 2022

For long underground box utility tunnels, post-tensioned precast concrete is often used. Between precast tunnel segments, sealed waterproof flexible joints are often specified. Fault displacement can lead to excessive deformation of the joints, which can lead to reduction in waterproofing due to diminished contact pressure between the sealant strip and the tunnel segment. This paper authenticates utilization of a finite element model for a prefabricated tunnel fault-crossing founded on ABAQUS software. In addition, material parameter selection, contact setting and boundary condition are reviewed. Analyzed under normal fault action are: the influence of fault displacement; buried depth; soil friction coefficient, and angle of crossing at the fault plane. In addition, distribution characteristics of the utility tunnel structure for vertical and longitudinal/horizontal relative displacement at segmented interface for the top and bottom slab are analyzed. It is found that the effect of increase in fault displacement on the splice joint deformation is significant, whereas the effects of changes in burial depth, pipe-soil friction coefficient and fault-crossing angle on the overall tunnel and joint deformations were not so significant.