• Journal of Mechanical Science and Technology
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• v.14 no.11
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• pp.1225-1231
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• 2000

This paper proposes a V-shaped Lyapunov function approach for the model-based control of flexible-joint robots, in which a new model-based nonlinear control scheme is designed based on a V-shaped Lyapunov function. The proposed control guarantees global asymptotic stability for link trajectory control while keeping all internal signals bounded. Since joint flexibility is used as a control parameter, the proposed control is not restricted by the degree of joint flexibility and be applied to flexibility-joint, partly-flexibility, or rigid-joint robots without modification. the effectiveness of the proposed control has been by computer simulation.

• The Journal of Korea Robotics Society
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• v.13 no.2
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• pp.92-96
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• 2018

In this paper, a soft robotic arm which can prevent impact injury during human-robot interaction is introduced. Two degrees of freedom joint are required to realize free movement of the robotic arm. A robotic joint concept with a single degree of freedom is presented using simple inflatable elements, and then extended to form a robotic joint with two degrees of freedom joint using similar manufacturing methods. The robotic joint with a single degree of freedom has a joint angle of $0^{\circ}$ bending angle when both chamber are inflated at equal pressures and maximum bending angles of $28.4^{\circ}$ and $27.1^{\circ}$ when a single chamber if inflated. The robotic joint with two degrees of freedom also has a bending angle of $0^{\circ}$ in both direction when all three chambers are inflated at equal pressures. When either one or two chambers were pressurized, the robotic joint performed bending towards the uninflated chambers.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.2
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• pp.154-158
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• 2013

Expansion joint has been utilized in many areas including automotive bellows for exhaust system. Usage of expansion joint has been increased due to its inherent flexibility and excellent anti-vibration property. Simple shape of expansion joint is modeled to understand the behavior of joint system. 27 design cases using 3 design factors with 3 levels are constructed by design of experiment. Each case is simulated to find the most influential design factors. Response for this study, maximum stress in the expansion joint, has been used to determine main design factors of joint. Among the 3 design factors, factor B has affected greatly a response in the formation of optimum shape of joint. Also, interaction factor, $A{\times}B$, has also showed its influence to the response of joint. This study showed that design of experiment combined with finite element analysis could be used in the design decision process effectively in the design of expansion joint.

• Journal of Mechanical Science and Technology
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• v.14 no.11
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• pp.1187-1197
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• 2000

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.1
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• pp.271-276
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• 1995

This paper presents a systematic method for the dynamic analysis of flexible mechanical systems containing closed kinematic loops. Kinematics between pairs of contiguous flexible bodies is described with the joint coordinates and the deformation modal coordinates. The cut-joint constraint equations associated with the closed kinematic loops are derived, simply using the geometric conditions. The equations of motions are initially written in terms of the joint and modal coordinates using the velocity transformation technique. Lagrange multipliers associated with the cut-joint constraints for closed-loop systems are then eliminated systematically using the generalized coordinate partitioning method, resulting to a minimal set of equations of motion.

• Advances in aircraft and spacecraft science
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• v.5 no.3
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• pp.401-410
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• 2018

The aim of this work is to optimize the geometrical parameters as the adhesive thickness and the beveled angle to reduce the edge effect of the scarf and V bounded joint. A finite element analysis is done to define the generated stresses in the bounded joint. The geometrical optimum is obtained using the Experimental Design Method. Results show that the double scarf (V) joint is better than the simple scarf bounded joint.

• Structural Engineering and Mechanics
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• v.66 no.1
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• pp.1-14
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• 2018

Column is usually floating on the stone base directly with or without positioning tenon in traditional Chinese timber structure. Vertical load originated by the heavy upper structure would induce large friction force and compression force between interfaces of column foot and stone base. This study focused on the mechanical behaviors of column foot joint with consideration of the influence of vertical load. Mechanism of column rocking and stress state of column foot has been explored by theoretical analysis. A nonlinear finite element model of column foot joint has been built and verified using the full-scale test. The verified model is then used to investigate the mechanical behaviors of the joint subjected to cyclic loading with different static vertical loads. Column rocking mechanism and stress distributions of column foot were studied in detail, showing good agreement with the theoretical analysis. Mechanical behaviors of column foot joint and the effects of the vertical load on the seismic behavior of column foot were studied. Result showed that compression stress, restoring moment and stiffness increased with the increase of vertical load. An appropriate vertical load originated by the heavy upper structure would produce certain restoring moment and reset the rocking columns, ensuring the stability of the whole frame.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.8
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• pp.1974-1984
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• 1994

This paper presents a relative coordinate formulation for constrained mechanical systems. Relative coordinates are defined along degrees of freedom of a joint. Graph theoretic analyses are performed to identify topological paths in mechanical systems. Cut constraints are generated to handle closed loop systems. Equations of motion are derived in the Cartesian space and transformed to the joint space. Relative generalized coordinates are corrected to satisfy the cut constraints by a parametrizatiom method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.3
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• pp.194-200
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• 2013

In this paper, the results of composite laminate mechanical joints test(ASTM D5961) are compared with the theoretical strength calculations and FEM analysis results. To calculate the S.C.F.(stress concentration factor) on joint strength, equations on metallic and composite materials in ASM Handbook used and compared with experimental results. The difference of joint strength are compared by geometrical parameters and joining types(single/double lap joint). In FEM analysis, to find efficient FEM model on composite laminate mechanical joint, several FEM models are compared with experimental test results.

• Structural Engineering and Mechanics
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• v.67 no.6
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• pp.579-585
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• 2018

Masonry walls are of a complex (anisotropic) structure in terms of their mechanical properties. The mechanical properties of the walls are affected by the properties of the materials used in wall construction, joint thickness and the type of masonry bond. The carried-out studies, particularly in the seismic zones, have revealed that the most of the conventional masonry walls were constructed without considering any engineering approach. Along with that, large-scale damages were detected on such structural elements after major earthquake(s), and such damages were commonly occurred at the brick-joint interfaces. The aim of this study was to investigate the effect of joint thickness and also type of mortar on the mechanical behavior of the masonry walls. For this aim, the brick masonry walls were constructed through examination of both the literature and the conventional masonry walls. In the construction process, a single-type of brick was combined with two different types of mortar: cement mortar and hydraulic lime mortar. Three different joint thicknesses were used for each mortar type; thus, a total of six masonry walls were constructed in the laboratory. The mechanical properties of brick and mortars, and also of the constructed walls were determined. As a conclusion, it can be stated that the failure mechanism of the brick masonry walls differed due to the mechanical properties of the mortars. The use of bed joint thickness not less than 20 mm is recommended in construction of conventional masonry walls in order to maintain the act of brick in conjunction with mortar under load.