• 한국자동차공학회논문집
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• 제9권2호
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• pp.185-191
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• 2001

In many papers, the powertrain system generally has been madeled as one-dimensional torque model. One-dimensional powertrain model may calculate the torque correctly but it does not consider the non-rotational degrees-of-freedom of the powertrain components and the interaction of these degrees-of-freedom with the vehicle body frame and suspension. To consider the non-rotational degrees of freedom, the differential is modeled as a three-dimensional rigid body in this paper. A constant velocity joint is newly formulated and a relative constraint is also formulated to model the motion transfer due to gear ratio of the differential. Implementing the proposed powertrain system in the multibody model, more detail dynamic responses can be obtained. Obtained outputs such as reaction torques on the constant velocity joint and reaction forces on the rack can be useful data in the design of a powertrain.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2004년도 추계학술대회
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• pp.166-169
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• 2004

In this paper show how to design a redundant robot which is suitable for the multiple task without any constraints on the workspace. The implementation is possible by the rigid connection of a mobile robot and a task robot. Use a five joint articulated robot as the task robot; designed the 3 joint mobile robot for this usage. For a task execution assigned to the redundant robot, not only the task robot but the mobile robot should work in the coordinated way. therefore, a kinematic connection of the two robots should be cleary represented in a frame. And, also the dynamic interaction between the two robots needs to be analyzed. Clarified these issues considering the control of the redundant robot. Finally, demonstrate away of utilization of the redundancy as the cooperation between the mobile robot and the task robot to execute a common task.

• 한국강구조학회 논문집
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• 제23권5호
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• pp.535-546
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• 2011

본 연구에서는 다양한 명시적 호장법을 사용하여 공간프레임의 반강접 탄소성 후좌굴 해석을 수행하였다. 이를 위해 이전 연구를 발전시켜 다양한 명시적 알고리즘의 호장법과 명시적, 묵시적 해석법에 동시에 적용 가능한 반강접 탄소성 공간프레임요소를 제안하였다. 다양한 명시적 호장법은 예측단계와 수렴단계에 명시적 해석법인 동적이완법을 적용한 것을 의미한다. 따라서 명시적 호장법에는 명시적(예측단계)-명시적(예측단계) 호장법, 명시적(예측단계)-묵시적(수렴단계) 호장법, 묵시적(예측단계)-명시적(수렴단계) 호장법으로 구분된다. 또한 명시적 호장법에 적용 가능하도록 수정된 반강접 탄소성 공간프레임요소는 오일러리안 유한변형이론에 의해 강체회전변형을 고려하였기 때문에 대변위가 발생하는 기하학적 비선형 문제에 적용될 수 있고, 완전 탄소성 소성힌지 알고리즘에 의한 재료적 비선형성을 고려하였으며, 부재내부에 정적 응축된 회전 및 축방향 성분의 선형 스프링에 의해 접합부 반강접 특성을 반영하였다. 제안된 해석법을 이용하여 검증예제를 수행함으로써 본 연구에서 제안된 다양한 명시적 호장법 및 공간프레임요소의 정확성을 검증한다.

• Steel and Composite Structures
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• 제31권5호
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• pp.453-467
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• 2019

Portal frame structures, made up of cold-formed steel trusses, are increasingly being used for lightweight building construction. A novel pin-jointed moment connector, called the Howick Rivet Connector (HRC), was developed and tested previously in T-joints and truss assemblage to determine its reliable strength, stiffness and moment resisting capacity. This paper presents an experimental study on the HRC, in moment resisting cold-formed steel trusses. The connection method is devised where intersecting truss members are confined by a gusset connected by HRCs to create a rigid moment connection. In total, three large scale experiments were conducted to determine the elastic capacity and cyclic behaviour of the gusseted truss moment connection comprising HRC connectors. Theoretical failure loads were also calculated and compared against the experimental failure loads. Results show that the HRCs work effectively at carrying high shear loads between the members of the truss, enabling rigid behaviour to be developed and giving elastic behaviour without tilting up to a defined yield point. An extended gusset connection has been proposed to maximize the moment carrying capacity in a truss knee connection using the HRCs, in which they are aligned around the perimeter of the gusset to maximize the moment capacity and to increase the stability of the truss knee joint.

• 한국공작기계학회논문집
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• 제11권2호
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• pp.80-86
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• 2002

Previous method of computer simulation to predict the dynamic response of a vehicle has been based on the assumption that vehicle structure is rigid. If the flexibility of the vehicle structure becomes too large to ignore, rigid body assumption will no longer give good estimation of the dynamic characteristics. Therefore, in order to predict more precise vehicle dynamic characteristics, flexible multi-body dynamic analysis of a vehicle is necessary. This paper investigates dynamic characteristics of vehicle systems with flexible frames numerically. Joint reaction forces, vertical accelerations, pitch accelerations are analyzed for the vehicle systems with various flexible frames using multi-body dynamic analysis code and finite element analysis code.

• 한국구조물진단유지관리공학회 논문집
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• 제18권1호
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• pp.31-39
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• 2014

뼈대구조물의 강절점영역을 설계하기 위해서는 휨모멘트의 작용방향에 따른 절점영역 내부의 응력변화를 정확히 예측하는 것이 매우 중요하다. 본 연구에서는 다양한 형태의 헌치를 갖는 강절점영역의 설계에 있어서 현행의 도로교설계기준이 유용한지에 대해 검토하였다. 또한 선형탄성유한요소해석을 통해 휨모멘트의 작용시의 헌치를 갖는 절점영역내부의 응력상태를 파악한 다음, 이를 바탕으로 스터럿-타이 모델을 제안하였다. 본 연구를 통해 제안한 스터럿-타이 모델은 선형탄성유한요소와 동등수준의 정확도를 가지는 것을 확인하였고, 다양한 형태의 헌치를 갖는 강절점 영역의 보강철근 설계에 유용할 것으로 사료된다.

• Structural Engineering and Mechanics
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• 제29권1호
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• pp.17-35
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• 2008

Neglecting the real joint behaviour in frame analysis may result in unrealistic predictions of the response and reliability of steel frames. The reliability of the prediction of main joint properties according to the component method (Eurocode 3-Part 1.8) still remains open to further investigation. The first step toward the solution is to compare the theoretical expressions given in EN 1993-1-8 and the experimental results. With that goal in mind six nominally the same, but really different specimens of welded beam-to-column joints subjected to static load were tested. The specimens present a combination of nominally identical structural elements produced in different European mills. This paper provides these tests, as well as their detailed evaulation and interpretation. All three joint structural properties (rotational stiffness, moment resistance and rotation capacity) have been considered. Four models for determining the plastic resistance out of experimental Mj-${\phi}$ curves have been applied. The results that have been discussed in detail, point to the fact that EN 1993-1-8 underestimates the real structural properties of the tested type of joint, as well as to the conclusion that detailed research of this problem needs to be conducted using the probabilistic reliability methods.

• Computers and Concrete
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• 제12권4호
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• pp.393-411
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• 2013

In the analysis and design of reinforced concrete frames beam-column joints are sometimes assumed as rigid. This simplifying assumption can be unsafe because it is likely to affect the distributions of internal forces and moments, reduce drift and increase the overall load-carrying capacity of the frame. This study is concerned with the relevance of shear deformation of beam-column joints, in particular of exterior ones, on the quasi-static behavior of regular reinforced concrete sway frames. The included parametric studies of a simple sub-frame model reveal that the quasi-static monotonic behavior of unbraced regular reinforced concrete frames is prone to be significantly affected by the deformation of beam-column joints.

• 한국강구조학회 논문집
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• 제21권6호
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• pp.597-608
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• 2009

본 연구에서는 접합부 특성이 고려된 공간프레임의 대변형 탄소성해석법에 관한 내용을 기술한다. 이 해석법은 유한변형을 고려한 대변형 탄성해석법에 기초한 것으로 부재의 재료적 탄소성, 접합부 반강접 특성을 추가적으로 고려하였다. 절점의 유한변형은 오일러의 개념으로 부터 유도되었으며, 부재좌표계에서 계산된 부재변형은 보-기둥식에 대입하여 부재력을 계산하였다. 부재변형은 부재축변형과 휨에 의한 축변형효과를 함께 고려하여 계산하였으며, 부재축력의 휨강성, 비틀림강성에 대한 효과를 고려하여 항복함수를 계산하였다. 재료는 완전 탄소성으로 가정하였고, 항복은 부재 양단부에서 집중하여 발생하는 소성힌지의 개념을 사용하였다. 부재 접합부 반강접 특성은 지수모델이나 선형모델을 적용하였고, 접합부 특성이 고려된 탄소성 후좌굴해석을 수행하기 위해 호장법을 사용하였다. 본 연구내용의 정확성 및 효율성을 검증하기 위해 공간프레임에 대한 해석을 수행하였다.

• Steel and Composite Structures
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• 제25권6호
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• pp.727-734
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• 2017

This paper describes a quasi-static finite element analysis, which uses the explicit integration method, of the apex joint of a cold-formed steel portal frame. Such cold-formed steel joints are semi-rigid as a result of bolt-hole elongation. Furthermore, the channel-sections that are being connected have a reduced moment capacity as a result of a bimoment. In the finite element model described, the bolt-holes and bolt shanks are all physically modelled, with contact defined between them. The force-displacement curves obtained from the quasi-static analysis are shown to be similar to those of the experimental test results, both in terms of stiffness as well as failure load. It is demonstrated that quasi-static finite element analysis can be used to predict the behavior of cold-formed steel portal frame joints and overcome convergence issues experienced in static finite element analysis.