• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1603-1608
• /
• 2003

Multiple robotics systems with several sub-chains have a characteristic that grasp a common object with internal loading not to loose the grip. The investigation for the internal loading of a triple manipulator has been few as compared to a dual manipulator. In this paper, type of the internal loading for a triple manipulator system is investigated through analysis of the null space of the system. Several types of the internal loading are shown for general planar and spatial type triple robots, which rigidly grasp the common object. The general scheme is applied to analysis of the internal loading for the three-fingered and three-legged robots having a point contact with the grasped object.

• Journal of the Korean Society for Railway
• /
• v.3 no.3
• /
• pp.117-124
• /
• 2000

The rubber wheel-type AGT has two major kinds of bogie; one is the bogie type and the other steering one. Both are important vehicular structure to support the whole running vehicle and passenger loads. This paper deals with the static analysis for the two types of bogie frame subjected to combined external forces, as well as independent ones specified in UIC 515-4. Furthermore, the dynamic analysis is performed under vibrational loading conditions so as to compare dynamic characteristics, Numerical results by using commercial packages, I-DEAS and NASTRAN show that maximum stresses do not exceed the yield strength level of material used for both bogies. From an overall viewpoint of strength, the bogie type turns out to be superior to the steering type except for the case of a lateral loading. It is also observed that the steering type shows a characteristics of low frequency behavior during a course of searching for structurally weak areas to be stiffened. The vibrational fatigue analysis for each bogie frame depends on the loading time history conditions which is applied. Time History Central Database List in the NASTRAN package. Subsequent1y, the fatigue life of bogie type is longer than the steering type.

• KCI Concrete Journal
• /
• v.14 no.1
• /
• pp.8-14
• /
• 2002

This is the first of two part series on experimental studies of grout type transverse joints. In this study, grout type transverse joints between precast concrete slabs are statically tested to determine the cracking loads and ultimate shear capacities of the grout type transverse joints. The tests are performed with a loading equipment designed and constructed especially in the lab to induce shear failures on the joints of the test specimens. Shape of the transverse joints, grouting materials and amount of prestress are selected as test parameters for the study. The results indicate that epoxy is an excellent grouting material which can be used in limited locations where large tensile stress is acting on the slab. Longitudinal prestressing is also an effective method to increase the shear strength of the transverse joints. A rational method to estimate the cracking and ultimate loads for the design of grout type transverse joints is proposed based on the static loading tests. Success of the tests with shear loading equipment allowed continuing the research further onto the fatigue strength of the grout type joints, which will be presented in the second part of the paper.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.11a
• /
• pp.949-950
• /
• 2010

• Journal of Applied Reliability
• /
• v.17 no.1
• /
• pp.50-57
• /
• 2017

Purpose : This paper is a comparative analysis results of the fatigue test for dental implants and accelerated life test by using a static type loading device commonly used in Korea and a dynamic type loading device (universal-joint) recommended by FDA. Methods : Fatigue tests of dental implant is based on ISO 14801 and classified into static load test and dynamic load test. The tests were carried out on three test specimens by four load stress steps under each loading device. For analysis on failure mode such as crack, fracture and permanent deformation of test specimens, we used X-ray three-dimensional computed tomography on test specimens before and after the fatigue tests. The design of the accelerated life test was based on the analysis results of the fatigue life data obtained from the dynamic load test and the statistical analysis software (Minitab ver.15) was used to analyze the appropriate life distribution. Results : As a result of the fatigue tests and the accelerated life tests at same acceleration condition under each test method, the fatigue life under the dynamic type loading device (universal-joint) was shorter than when static type loading device was applied. Conclusion : This paper can be used as a reference when the universal-joint type loading device for implants fatigue test is applied as ISO 14801.

• Journal of Biosystems Engineering
• /
• v.30 no.6 s.113
• /
• pp.366-372
• /
• 2005

The objective of this study was to evaluate the bump crossing and loading stability of a proto-type mini-forwarder under development. The evaluation was performed by computer simulation using a multi-body dynamic analysis program, Recur- Dyn 5.21. The proto-type was modeled and its properties such as mass, mass center, and mass moment of inertia were determined using 3D CAD modeler, Solid Edge 8.0. The $\%$ errors of masses, mass center, mass moment of inertia, and vertical motion of the model were within less than $10\%$ and the model's behavior agreed relatively well with those of the proto-type when traversing over a rectangular bump. Using the validated model, bump crossing of the proto-type was simulated and the loading limit was determined. It was found that effects of the shapes of bump on the bump crossing performance was insignificant within the practical heights of bumps. Stability of bump crossing increased with loading. However, loading of longer logs than 2.7 m made the crossing unstable because the ends of logs contacted ground when traversing over the bump. The maximum loading capacity of the proto-type was estimated to be 7.8 kN of 2.7 m long logs.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.18 no.7
• /
• pp.22-28
• /
• 2019

In this study, as part of the subway braking system, the structural analysis was performed with the fatigue analysis by comparing subway brake disc and wheel-type brake. When structural analysis was performed, it was possible to verify that the wheel-type brake were higher than the brake discs in case of total deformation. As the same loading conditions were given to the subway brake disc and wheel-type brake, wheel-type brakes was shown to have more deformation than brake disk but lower damage than the subway brake disc. Comparing with each fatigue loading condition, the maximum fatigue life for 'Sample history' is found to be about 60 times longer than for 'SAE bracket history'.

• Proceedings of the Korea Concrete Institute Conference
• /
• 2005.11a
• /
• pp.173-176
• /
• 2005

This study look into the mechanisms of growth and magnification in the cracks and delamination on the beams repaired with CFS. The experimental parameters was a loading type, loading speed and pre-crack. In the experiments, it was confirmed that the failure of beams began with development and propagation of the delamination in the below the loading point due to magnification of cracks, but it was not concerned with loading type, loading speed and pre-cracks. Particularly, in the case of beams having the pre-cracks, growth of crack concentrated at the special crack below the loading point and led to failure of the beam by delamination due to magnification of crack.

• Proceedings of the Korea Concrete Institute Conference
• /
• 1990.04a
• /
• pp.66-71
• /
• 1990

The prediction and estimation of R/C structure behavior subjected to earthquake type loading is partly based on the experimental results of the monotonically increased cyclic loading, rather than that of the irregularly increased cyclic loading. However, actual earthquake is typical random vibration. In this respect, comparing and analysing experimental test results of R/C specimens subjected to monotonically increased cyclic loading and irregularly increased cyclic loading, this study proposes the research direction of irregularly increased cyclic loading during earthquake.

• Computers and Concrete
• /
• v.13 no.3
• /
• pp.377-387
• /
• 2014

This paper presents an experimental study on socket base connections of precast reinforced concrete columns. The main purpose of this study is to determine socket base connection which has the closest behavior to monolithic casted column-base joints. For this purpose, six specimens having different column-socket base connection details were tested under cyclic loading. For each test, strength, stiffness, ductility and drift ratios of the specimens were determined. Test results indicated that a suggested connection type is 10%-30% stronger than the other type of connections under lateral loading. The welded connection (PC-5) had better lateral load carrying capacity and ductility. On the other hand, performance of standard connection (PC-1) which is commonly used in construction was weaker than other connections. Thus, decision of connection type should be referred not only performance but also applicability.