• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.11
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• pp.2139-2146
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• 2011

In this paper, a robust adaptive controller is proposed for trajectory tracking of robot manipulators with the unknown friction coefficient and bounded disturbance. A new adaptive control law is developed based on sliding mode and derived from the Lyapunov stability analysis. The introduction of a boundary layer solves the problem of chattering. The proposed adaptive controller is globally asymptotically stable and guarantees zero steady state error for joint positions. The estimated friction coefficients can also approach the actual coefficients asymptotically. A simulation example is provided to demonstrate the performance of the proposed algorithm.

• Journal of the Korean Geosynthetics Society
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• v.12 no.1
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• pp.73-81
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• 2013

The objective of this paper is to minimize installation length of pipeline and to reduce burial depth for construction by increasing the friction coefficient caused by the interface between backfill material and pipeline. And then, the sufficient friction coefficient shortens the length of expansion joint pipe and gives the life extension of expansion joint absorber for efficient procedure regarding maintenance and administration of construction. The backfill material which is developed in this study has larger and smaller friction angle than that of conventional backfill material (river sand). The backfill material with tire powder provides low friction angle at curved section when pipe diameter increases in size (38% reduction at pipe diameter in 900 mm). When using backfill material with river sand and fly-ash, the mixture mixed with 1.5% fly-ash has 30% and that with 3% fly-ash has 50% reduction effect for minimum installation length of expansion joint pipe.

• Journal of Korean Society of Steel Construction
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• v.26 no.4
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• pp.349-359
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• 2014

Until now, wall-slab plate of steel plate concrete has been constructed by joint. But, the shear plate has problems in the workability as well as structural integrity. This study investigates the behavior and strength of rib stiffened SC wall-slab connection. Seven prototype specimens of wall-slab connections were fabricated and tested. the structural safety of the specimens was confirmed through the monotonic loading test. Based on the experimental observations, this study propose the strength formula of the joint was proposed. To enhance the reliability of the proposed strength formula, analytical verification was performed through inelastic finite element analysis. Effect of parameters, such as, load point, friction coefficient, on the joint strength was examined. The proposed formula yields a conservative value for most cases.

• Journal of Dental Rehabilitation and Applied Science
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• v.25 no.2
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• pp.157-169
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• 2009

The aim of this study was to evaluate effect of implant abutment screw coating treatment on joint stability, investigating mechanical properties of these. For this study used $ExFeel^{(R)}$ external hexed implant system and $15mm{\times}1mm$ discs. Experimental group was $1{\mu}m$ TiN, TiCN, TiC coated abutment screws and discs. To know mechanical property, i evaluated adhesion strength, surface hardness, using disc, corrosion test using screw. The results were as follows : rotation angle of coated screws increased than that of non-coated screw because of lower friction coefficient, especially TiC coated screw group had the largest value, but removal torque decreased in all coated screws (p<0.05). Torque loss before and after fatigue test was the smallest in TiC-coated screws, and the largest in non-coated screws (p<0.05), and there was no statistically significant difference between dry condition and wet condition of screws because of higher surface hardness and lower friction coefficient. From the above results, TiN, TiCN, TiC coating group had high abrasion resistance, especially TiC coated group which had low torque-consuming, high rotation angle as low friction coefficient will be considered to influence on implant abutment screw joint stability positively.

• Proceedings of the KWS Conference
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• 2010.05a
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• pp.59-59
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• 2010

Friction stir welding has become a viable and important manufacturing alternative or fabrication component, especially in aerospace and automobile applications involving aluminium alloys. In recent years, there is an increasing interest for FSW of dissimilar metals and alloys, particularly systems which are difficult to weld by conventional, thermal (or fusion) welding. In this study we tried to analyse the complex heat distribution occurring in TIG assisted FSW of dissimilar butt joint (STS304 and Al6061). For this, an analytical model for heat generation by FSW based on contact conditions has been developed. The heat input was calculated considering the coefficient of friction and slip factor between each work piece material with the tool material. The thermal model is used to generate the temperature characteristics curve, which successfully predicts the maximum welding temperature in each alloys. The analysis was carried out using the in-house solver.

• Structural Engineering and Mechanics
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• v.77 no.4
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• pp.509-521
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• 2021

The neighbouring gaps at the mortise-tenon joint in traditional timber structure, which leads to the complexity of the joint, are considered to impair the mechanical performance of the joint. In this paper, numerical simulation of loose joint was conducted to examine the deformation states, stress distributions, and bearing capacities, which was verified by full-scale test. On the basis of the experimental and numerical results, a simplified mechanics model with gaps has been proposed to present the bending capacity of the loose joint. Besides, the gap effects and parameter studies on the influences of tenon height, friction coefficient, elastic modulus and axial load were also investigated. As a result, the estimated relationship between moment and rotation angle of loose joint showed the agreement with the numerical results, demonstrating validity of the proposed model; The bending bearing capacity and rotational stiffness of loose joint had a certain drop with the increasing of gaps; and the tenon height may be the most important factor affecting the mechanical behaviors of the joint when it is subjected to repeated load; Research results can provide important references on the condition assessments of the existing mortise-tenon joint.

• Aerospace Engineering and Technology
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• v.12 no.1
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• pp.105-110
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• 2013

The gimbal expansion joint for the pipe line of a liquid rocket engine undergoes high pressure and cyclic rotational displacement loadings. In present study, the moment analyses and tests of the internal-type gimbal expansion joint for the engine were performed. The moment components due to spring stiffness, friction and lateral force were obtained using a analytic method and their sums at low and high pressures were compared with the test results. Also, applying a $MoS_2$ dry film lubricant to the pin of a external hinge expansion joint, it is tested that the galling of the pin was removed and the friction coefficient was decreased for low pressures.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.173-174
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• 2002

To study the effects of mating materials on the tribological properties of DLC films. we used a ball-on-plate reciprocating friction tester in dry air and mating materials of martensite stainless steel (hardened, annealed SUS440C), austenite stainless steels (SUS304), and bearing steel (hardened, annealed SUJ2). At a light load of 0.6 N, the friction coefficient always exceeded ${\mu}>0.3$. Tribological properties of DLC film were still excellent above 0.6 N, except in sliding against annealed SUJ2. Analysis using micro-laser Raman spectroscopy showed that the difference between annealed SUJ2 and others materials appears mainly due to structural change in film.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.887-898
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• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• Transactions of the Korean Society of Automotive Engineers
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• v.18 no.3
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• pp.37-42
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• 2010

Plastic region tightening is widely used in critical bolted joints in internal combustion engines in order to reduce the engine weight by maximizing the use of load-carrying capacity of bolt. Mechanical behavior of bolt tightened in plastic region under external axial tensile load is investigated for various friction conditions using three dimensional finite element analysis. The behavior of bolt tightened in elastic region as well as that in tensile test are investigated for comparison. Tightening process is simulated by rotating the bolt in order to examine the friction effect realistically. It is revealed that the bolt tightened in plastic region can carry more external load until the joint is opened, and yields at lower bolt load than the bolt tightened in elastic region. The friction coefficient has effect on the yield load, but not on the load-carrying capacity. Moreover, the scatter in the bolt preload due to friction begins with plastic deformation of bolt in the angle tightening control, whereas it begins with the onset of tightening in the torque tightening control. The observations are interpreted with the residual torsional stress in the bolt generated during the tightening.