• International Journal of Control, Automation, and Systems
• /
• v.5 no.4
• /
• pp.419-428
• /
• 2007

This paper describes the development of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle. In order to accurately push and pull an object with an intelligent robot's hand, and in order to safely walk with an intelligent robot's foot, the robot's wrist and ankle should measure three forces Fx, Fy, and Fz, and three moments Mx, My, and Mz simultaneously from the mounted six-axis force/moment sensor to the intelligent robot's wrist and ankle. Unfortunately, the developed six-axis force/moment sensor utilized in other industrial fields is not proper for an intelligent robot's wrist and ankle in the size and the rated output of the six-axis force/moment sensor. In this paper, the structure of a six-axis force/moment sensor with rectangular taper beams was newly modeled for an intelligent robot's wrist and ankle, and the sensing elements were designed by using the derived equations, following which the six-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements. Moreover, the characteristic test of the developed sensor was carried out by using the six-component force/moment sensor testing machine. The rated outputs from the derived equations agree well with those from the experiments. The interference error of the sensor is less than 2.87%.

• Journal of the Korean GEO-environmental Society
• /
• v.7 no.3
• /
• pp.55-68
• /
• 2006

This paper studies the moment equations in the 2000 Canadian highway bridge code(CHBDC) for soil-steel box structures, which are applicable to the span less than 8m. Finite element analyses carried out for soil-steel box structures having spans of 3-12m using the deep corrugated steel plates under three construction stages; backfill up to the crown, backfill up to the cover depth, and live loading. The coefficients of moment equations are newly proposed based on the results of numerous finite element analyses considering various design variables, such as span length, soil depth, backfill conditions. The validity of the proposed coefficients in the moment equations of the 2000 CHBDC is investigated by the comparison with the existing coefficients and numerical results of finite element analyses. The comparisons show that the moments of the 2000 CHBDC give good predictions for the span less than 8m, but underestimate for the span greater than 8m, whereas the proposed moments give good estimates of numerical results for the spans of 3-12m.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.19 no.3
• /
• pp.697-704
• /
• 1995

The dynamic characteristics of a system can be critically influenced by system uncertainty, so the dynamic system must be analyzed stochastically in consideration of system uncertainty. This study presents the stochastic model of a nonlinear dynamic system with uncertain parameters under nonstationary stochastic inputs. And this stochastic system is analyzed by a new stochastic process closure method and moment equation method. The first moment equation is numerically evaluated by Runge-Kutta method and the second moment equation is numerically evaluated by stochastic process closure method, 4th cumulant neglect closure method and Runge-Kutta method. But the first and the second moment equations are coupled each other, so this equations are approximately evaluated by a iterative method. Finally the accuracy of the present method is verified by Monte Carlo simulation.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.8 no.1
• /
• pp.157-162
• /
• 2000

The ball bearings are the widely-used machine elements in many machineries. They support not only the radial and the axial force but also the moment in many cases. To simply determine the limit load which can be maintained on an ball bearing or survived in wanted life, the combined the radial and axial force with the moment is converted to the equivalent radial or axial load. However, it is not easy to calculate the equivalent load on the ball bearings. So the simplified equations to evaluate the dynamic and static equivalent load considering the axial force and moment are proposed in this analysis. And the modified equation for the static equivalent radial load with the moment and the axial load is proposed. It is desired that these equations are effectively refered in designing the machineries where the ball bearings are installed.

• Proceedings of the ESK Conference
• /
• 1992.10a
• /
• pp.46-53
• /
• 1992

Finger movements in the sagittal plane mainly consist of flexion and extension about the metacarpophalangeal(MCP) and proximal interphalangeal(PIP) joints. A kinematic finger model was developed with the assumption of constant tendon moment arms. Equations of static equilibrium were derived for the finger model using the principle of virtual work. Equations of static equilibrium for the finger model were indeterminate since only three equations were available for five unknown variables(forces). The number of variables was reduced based on information on muscular activities in finger movements. Then the amounts of forces which muscles exerted to maintain static equilibrium against external loads were computed from the equilibrium equations. The muscular forces were expressed mathematically as functions of finger positions, tendon moment arms, lengths of phalanges, and the magnitude and direction of external load. The external finger strength were computed using the equations of muscular forces and anatomical data. Experiments were performed to measure finger strengths. Measurements were taken in combinations of four finger positions and four directions of force exertions. Validation of the finger models and of procedure to estimate finger strengths was done by comparing the results of computations and experiments. Significang differences were found between the predicted and measured finger strengths. However, the trends of finger strengths with respect to finger positions were similar inboth the predicted and measured. These findings indicate that the finger model and the procedure to predict finger strengths were correctly developed.

• Structural Engineering and Mechanics
• /
• v.23 no.6
• /
• pp.599-613
• /
• 2006

A method for the dynamical analysis of FE discretized uncertain linear and nonlinear structures is presented. This method is based on the moment equation approach, for which the differential equations governing the response first and second-order statistical moments must be solved. It is shown that they require the cross-moments between the response and the random variables characterizing the structural uncertainties, whose governing equations determine an infinite hierarchy. As a consequence, a closure scheme must be applied even if the structure is linear. In this sense the proposed approach is approximated even for the linear system. For nonlinear systems the closure schemes are also necessary in order to treat the nonlinearities. The complete set of equations obtained by this procedure is shown to be linear if the structure is linear. The application of this procedure to some simple examples has shown its high level of accuracy, if compared with other classical approaches, such as the perturbation method, even for low levels of closures.

• Journal of computational fluids engineering
• /
• v.10 no.3 s.30
• /
• pp.1-8
• /
• 2005

In this study, unsteady aerodynamic analyses of a wedge-type airfoil based on nonlinear piston theory and Euler equations have been performed in supersonic and hypersonic flows. The third-order nonlinear piston theory (NPT) to calculate unsteady lift and moment coefficients is derived and applied in the time-domain. Also, unsteady flow quantities are obtained from the two-dimensional time-dependent Euler equations. For the CFD based unsteady aerodynamic analyses, an arbitrary Lagrangean-Eulerian (ALE) formulation for the Euler equations is used to calculate flow fluxes in the computational flow field with moving boundaries. Numerical comparisons for unsteady lift and moment coefficients are presented between NPT and Euler approaches. The results show very good agreements in the high supersonic and hypersonic flows. It means that the present NPT can be efficiently used to predict unsteady aerodynamic forces ol wedge type airfoils with dynamic motions in the high supersonic and hypersonic flow regimes.

• 한국연소학회:학술대회논문집
• /
• 2002.06a
• /
• pp.41-45
• /
• 2002

The zone-conditioned CMC equations are derived by taking an unconditional average of the generic conservation equations multiplied by delta and Heaviside functions in terms of mixture fraction and reaction progress variable. The resulting equations are essentially in the same form as the single zone CMC equations except for separate flow fields for burned and unburned gas. The zone-conditioned two-fluid equations are applied to a stagnating turbulent premixed flame brush of Cheng and Shepherd[5l. It is shown that the flame stretch factor is of crucial importance to accurately reproduce the measured mean reaction progress variable and conditional velocities. Further work is in progress for the relationship between surface and volume averages and extension to partially premixed combustion on the basis of a triple flame structure, e. g. in a lifted turbulent diffusion flame.

• Journal of the Korean Society for Precision Engineering
• /
• v.24 no.1 s.190
• /
• pp.27-36
• /
• 2007

This paper describes the development of 6-axis ankle force/moment sensor for the intelligent feet of a humanoid robot. When the robot walks on uneven terrain, the feet should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz from the attached 6-axis force/moment sensor on their ankles. Papers have already been published have some disadvantages in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis ankle force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to get the similar rated output under each rated load. Also, the size of the sensor is very important for mounting to robot's feet. Therefore, the diameter should be below 100 mm and the height should be below 40mm. In this paper, first, the structure of a 6-axis ankle force/moment sensor was modeled for a humanoid robot's feet newly, Second, the equations to predict the strains on the sensing elements was derived, third, the size of the sensing elements was designed by using the equations, then, the sensor was fabricated by attaching straingages on the sensing elements, finally, the characteristic test of the developed sensor was carried out. The rated outputs from the derived equations agree well with the results from the experiments. The interference error of the sensor is less than 2.94%.

• Journal of the Korea Concrete Institute
• /
• v.23 no.1
• /
• pp.57-65
• /
• 2011

Both shear and torsional moments apply shear stresses on cross-section of a member, which need to be considered in the design. But in the current Korean Building Code, the design equations for shear and torsional moments are expressed in terms of the sectional strength with different units, causing figures to be drawn separately in two axes. If the design equations are expressed in terms of stresses, then the stresses of shear and torsional moments can be added, allowing figures to be drawn in one axis for easy recognition of the design procedure and the final design results. Moreover, the current code's design equations for shear and torsional moments are considered separately with the intention of summing the area of stirrups with respect to unit length for shear moment ($A_{\upsilon}/s$) and torsional moment ($2A_t/s$). Since the size or type of vertical stirrups are predetermined in the design process, the design equations are expressed in terms of the spacing of stirrups rather than the $A_{\upsilon}/s$ and $2A_t/s$ terms, clarifying various design steps and a design process.