• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.320-328
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• 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.

• Journal of the Korea Concrete Institute
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• v.28 no.2
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• pp.235-244
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• 2016

This study was conducted to verify seismic performance of special moment frame's joints at roof-level with high-strength concrete and SD600 bars. K-RC-H was designed according to the seismic code and K-HPFRC-H had 150% of the original hoop spacing and 1.0% steel fiber volume fraction compared with K-RC-H. Both specimens had remarkable seismic performance without noticeable decrease in moment, but with very good energy dissipation before rebar failure. The U-bars in the joint sufficiently constrained rebar's action that pushed the cover upward. SD600 bars with $1.25l_{dt}$ had minimum slip in the joint. It was considered that the steel fiber contributed to improvement of the bending moment and joint shear distortion, and the result showed that it would be possible to increase the hoop spacing to 150% of the regular spacing.

• Journal of Korean Society of Steel Construction
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• v.20 no.1
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• pp.81-92
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• 2008

Generally the connection of members is defined as hinge or rigid. But, real joints on structure have to be considered semi-rigid connections because this permits relative rotation for members on joints. The purpose of this study is to derive a generalized tangential stiffness matrix of frames with semi-rigid connections and to develop a buckling analysis program. For the exact stiffness matrix, an accurate displacement field is introduced using an equilibrium equation for beam-columns under the bending and axial forces. Also, stability functions that consider sway deformation and force-displacement relations with rotational spring on ends were defined. In order to illustrate the accuracy of this study and the characteristics of semi-rigid for system buckling load, samples of angle-, portal- and 3-story frames with semi-rigid connections are presented, where the proposed approach is found to be in excellent agreement with other research results. Meanwhile, the application of codes such as Eurocode 3 and LRFD led to significant inaccuracies.

• Earthquakes and Structures
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• v.26 no.3
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• pp.203-218
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• 2024

Beam-column joints in the frame structure are at high risk of brittle shear failure which would lead to significant residual deformation and even the collapse of the structure during an earthquake. In order to improve the damage issue and enhance the recoverability of the beam-column joints, a sector lead rubber damper (SLRD) has been developed. The SLRD can increase the bearing capacity and energy dissipation capacity, and also demonstrating recoverability of seismic performance following cyclic loading. In this paper, the hysteretic behavior of SLRD was experimentally investigated in terms of the regular hysteretic behavior, large deformation behavior and fatigue behavior. Furthermore, a parametric analysis was performed to study the influence of the primary design parameters on the hysteretic behavior of SLRD. The results show that SLRD resist the exerted loading through the shear capacity of both rubber parts coupled with the lead cores in the pre-yielding stage of lead cores. In the post-yielding phase, it is only the rubber parts of the SLRD that provide the shear capacity while the lead cores primarily dissipate the energy through shear deformation. The SLRD possesses a robust capacity for large deformation and can sustain hysteretic behavior when subjected to a loading rotation angle of 1/7 (equivalent to 200% shear strain of the rubber component). Furthermore, it demonstrates excellent fatigue resistance, with a degradation of critical behavior indices by no more than 15% in comparison to initial values even after 30 cycles. As for the designing practice of SLRD, it is recommended to adopt the double lead core scheme, along with a rubber material having the lowest possible shear modulus while meeting the desired bearing capacity and a thickness ratio of 0.4 to 0.5 for the thin steel plate.

• Journal of the Korea Concrete Institute
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• v.24 no.4
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• pp.453-463
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• 2012

Steel-concrete composite rigid-frame bridge is a type of integral bridge having advantages in bridge maintenance and structural efficiency from eliminating expansion joints and bridge supports, the main problems in bridge maintenance. The typical steel-concrete composite rigid-frame bridge has the girder-abutment connection where a part of its steel girder is embedded in abutment for integrity. However, the detail of typical girder-abutment connection is complex and increases the construction cost, especially when a part of steel girder is embedded. Recently, a new type of bridge was proposed to compensate for the disadvantages of complex details and cost increase. The compensation are expected to improve efficiency of construction by simplifying the construction detail of the girder-abutment connection. In this study, a static load test has been carried out to examine the behavior of the girder-abutment connection using real-scale specimens. The results of the test showed that the girder-abutment connection of proposed girder bridge has sufficient flexural capacity and rebars to control concrete crack should be placed on the top of abutment.

• Journal of the Korean Society for Nondestructive Testing
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• v.19 no.4
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• pp.277-287
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• 1999

Quasi-static tests such as monotonic tension and loading/unloading tension were performed to investigate the bond characteristics and the failure processes for the T-joint specimens made from fiber/epoxy composite material. Two types of specimens, each consists of two components, e. g. skin and frame. were manufactured by co-curing and secondary bonding. During the monotonic tension test, AE instrument was used to predict AE signal at the initial and middle stage of the damage propagation. The damage initiation and progression were monitored optically using m (Charge Coupled Device) camera. And the internal crack front profile was examined using ultrasonic C-scan. The results indicate that the loads representing the abrupt increase of the AE signal are within the error range of 5 percent comparing to the loads shown in the load-time curve. Also it is shown that the initiation of crack occurred in the noodle region for both co-cured and secondarily bonded specimen. The final failure occurred in the noodle region for the co-cured specimen. but at the skin/frame termination point for the secondarily bonded specimen. Based on the results, it was found that two kinds of specimen show different failure modes depending on the manufacturing methods.

• Journal of Korean Society of Steel Construction
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• v.26 no.3
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• pp.143-154
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• 2014

An improved method for evaluating effective buckling length of semi-rigid frame with inelastic behavior is newly proposed. Also, generalized exact tangential stiffness matrix with rotationally semi-rigid connections is adopted in previous studies. Therefore, the system buckling load of structure with inelastic behaviors can be exactly obtained by only one element per one straight member for inelastic problems. And the linearized elastic stiffness matrix and the geometric stiffness matrix of semi-rigid frame are utilized by taking into account 4th terms of taylor series from the exact tangent stiffness matrix. On the other hands, two inelastic analysis programs(M1, M2) are newly formulated. Where, M1 based on exact tangent stiffness matrix is programmed by iterative determinant search method and M2 is using linear algorithm with elastic and geometric matrices. Finally, in order to verify this present theory, various numerical examples are introduced and the effective buckling length of semi-rigid frames with inelastic materials are investigated.

• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.20 no.2
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• pp.187-198
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• 1990

Examinations of the temporomandibular joints were performed on a 1.5 Tesla magnetic resonance (MR) system. An MR surface receiver coil 3 inch in diameter was placed on plastic frame, the patient's head being placed in the frame so that the coil was pressed against the temporal region. In taking advantage of the magnetic resonance imaging that has been studied briskly till now, author obtained the images of parasagittal and paracoronal planes about the temporomandibular joint by using MPGR (Multi-Planar Gradient Recalled), GRASS (Gradient Recalled Acquisition in the Steady State), and CSMEMP (Contiguous Slice Multiple Echo, Multi-Planar), that differ from the Spin Echo pulse sequence which the previous authors used. Five subjects with no symptoms of temporomandibular joint pain and dysfunction were studied. The plane images obtained by these methods were compared with those by Spin Echo pulse sequence. The results were as follows: 1. The optimal repetition times (TR) and echo times (TE) for T.M.J. image were; a. 400 msec and 18 msec in PMGR pulse sequence. b. 40 msec and 12 msec in GRASS pulse sequence. c. 700 msec and 30 msec in CSMEMP pulse sequence. d. 500 msec and 20 msec in Spin Echo pulse sequence. 2. When the MPGR pulse sequence was using, T2-weighted image was obtained in very short time. On the image of the paracoronal plane by GRASS pulse sequence, meniscus showed the moderate signal intensity, and the meniscus and its anteromedial, posterolateral attachments were observed definitely with gray color. 4. The signal intensity of Spin Echo pulse sequence was equal to that of CSMEMP pulse sequence, but the image by CSMEMP pulse sequence showed relatively lower level in its resolution.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.2
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• pp.409-422
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• 2013

For stability design and P-${\Delta}$ analysis of steel frames with semi-rigid connections, the explicit form of the exact tangential stiffness matrix of a generalized semi-rigid frame element having rotational and translational connections is firstly derived using the stability functions. And its elastic and geometric stiffness matrix is consistently obtained by Taylor series expansion. Next depending on connection types of semi-rigidity, the corresponding tangential stiffness matrices are degenerated based on penalty method and static condensation technique. And then numerical procedures for determination of effective buckling lengths of generalized semi-rigid frames members and P-${\Delta}$ and shortly addressed. Finally three numerical examples are presented to demonstrate the validity and accuracy of the proposed method. Particularly the minimum braced frames and coupled buckling modes of the corresponding frames are investigated.

• Structural Engineering and Mechanics
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• v.31 no.2
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• pp.163-180
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• 2009

In the design of tall reinforced concrete (R/C) buildings, the serviceability stiffness criteria in terms of maximum lateral displacement and inter-story drift must be satisfied to prevent large second-order P-delta effects. To accurately assess the lateral deflection and stiffness of tall R/C structures, cracked members in these structures need to be identified and their effective member flexural stiffness determined. In addition, the implementation of the geometric nonlinearity in the analysis can be significant for an accurate prediction of lateral deflection of the structure, particularly in the case of tall R/C building under lateral loading. It can therefore be important to consider the cracking effect together with the geometric nonlinearity in the analysis in order to obtain more accurate results. In the present study, a computer program based on the iterative procedure has been developed for the three dimensional analysis of reinforced concrete frames with cracked beam and column elements. Probability-based effective stiffness model is used for the effective flexural stiffness of a cracked member. In the analysis, the geometric nonlinearity due to the interaction of axial force and bending moment and the displacements of joints are also taken into account. The analytical procedure has been demonstrated through the application of R/C frame examples in which its accuracy and efficiency in comparison with experimental and other analytical results are verified. The effectiveness of the analytical procedure is also illustrated through a practical four story R/C frame example. The iterative procedure provides equally good and consistent prediction of lateral deflection and effective flexural member stiffness. The proposed analytical procedure is efficient from the viewpoints of computational effort and convergence rate.