• 로봇학회논문지
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• 제17권2호
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• pp.209-215
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• 2022

In this paper, a forearm Mechanism design inspired by ligamentous structure of the human body is proposed. The proposed mechanism consists of four rigid bodies and fourteen wires without any mechanical joints. Actually, the mechanism is based on the concept of the tensegrity structure. Therefore, the proposed mechanism has inherently compliant characteristics due to the flexibility of the wires composing the structure. Rigid bodies and wires of the mechanism mimic bones and major ligaments in the forearm of the human. The proposed mechanism is classified as one of the interconnected hybrid flexure systems. The analysis method of the degree of freedom (DOF) of the proposed mechanism is also introduced through analyzing technique of the interconnected hybrid flexure systems, in this paper. Ultimately, the proposed mechanism, whose structure is complicated with rigid bodies and wires, mathematically drives that it has 3-DOFs.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1999년도 봄 학술발표회 논문집
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• pp.287-294
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• 1999

The tensegrity structure by prestressed cable, which may have large freedom in scale and form and therefore are received much attention from the view points of their light weight and aesthetics, is a very flexible and geometrically unstable structure because the cable material has little initial rigidity. For the stable self-equilibrated state of the usually very deformable structure, the method to find the optimal initial stress by the shape analysis is proposed in this paper. The proposed procedure is to derive the nonlinear finite element formula of cable and truss members considering geometric nonlinearity and used to modified load incremental method adding to Newton-Raphson method with the proposed condition for optimal initial stress. The result of the shape analysis for the tensegrity structure with the radius of 30m is shown the almost approximated shape to architectural shape and the changed procedure of initial stress

• 로봇학회논문지
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• 제14권4호
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• pp.237-244
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• 2019

This paper suggests novel types of joint mechanisms composed of elastic strings and rigid bodies. All of the human hinge joints have the articular capsule and a pair of collateral ligaments. These fibrous tissues make the joint compliant and stable. The proposed mechanism closely imitates the human hinge joint structure by using the concept of tensegrity. The resultant mechanism has several characteristics shown commonly from both the tensegrity structure and the human joint such as compliance, stability, lightweight, and non-contact between rigid bodies. In addition, the role and feature of the human hinge joints vary according to the origins of a pair of collateral ligaments. Likewise, the locations of two strings corresponding to a pair of collateral ligaments produce different function and motion of the proposed mechanism. It would be one of the advantages obtained from the proposed mechanism. How to make a joint mechanism with different features is also suggested in this paper.

• 한국공간구조학회논문집
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• 제7권3호
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• pp.125-132
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• 2007

본 연구의 주목적은 공간그리드의 조형요소로서 3차원 유닛의 역할과 구성을 탐구하는 것이다. 따라서 공간그리드와 3차원 유닛의 상호관계와 역할, 유닛의 유형 및 구성방식과 이에 영향을 미치는 요인들이 파악된다. 또한 각각의 형태적 특성 및 조합이 공간그리드 전체의 형상에서 드러내는 효과를 확인하여 전반적인 형태구성의 틀을 제시하고자 한다.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2003년도 가을 학술발표회 논문집
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• pp.285-292
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• 2003

The soft structure can make large space more effectively, and its construction is easy and simple as well. However, it is not easy to realize this in the actual space. Therefore, two works are needed to be done for effective and accurate construction of soft structures. First, making a working scenario to complete the final objective form; second revising construction errors occurred in the middle of the actual works. These works are called constructional analysis. At this time, geometric nonlinearity should be considered to reflect the sensitivity by the initial stress of flexible structures, constructional analysis comes down to a nonlinear problem after all. This study approaches nonlinear constructional analysis with the numerical method for adjusting stress of cable-dome structures which are a soft structure system, and then verifies it.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1998년도 봄 학술발표회 논문집
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• pp.93-100
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• 1998

The basic systems of spatial structures such as shells, membrane, cable-nets and tensegrity structure have been developed to create the large spaces without column. These structures may have large freedom in scale and form, and especially tensegrity structures are received much attention from the view points of their light weight and aesthetics. But There re some difficulties concerning structural stability, surface formation and construction method. One of the way to solve these problems reasonably is a combination of tensile members and rigid members. A structural system based on this concept is referred to as the "HTS ( Hybrid Tension Structure )". This is a type of flexible structural system which is unstable initially, because the cable material has little initial rigidity. As cable - dome hybrid structures is a type of HTS, the initial stress for the self- equilibrated system having stable state have to be introduced. To determine initial stress having stable state, the shape finding analysis is required before the stress - deformation analysis. In this paper, the primary objective is to derive the nonlinear finite element formula of cable and truss members considering geometric nonlinearity for shape finding of cable-dome, and to propose the method to decide the initial stress by the shape analysis of cable-dome hybrid structure with the self-equilibrated state.

• 한국공간구조학회:학술대회논문집
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• 한국공간구조학회 2005년도 춘계학술발표회 및 정기총회 2권1호(통권2호)
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• pp.52-66
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• 2005

Tension and Membrane have the potential to enable the realization of lightweight structures that have the attractive features of structures efficiency and aesthetical expression. Compared with pure (thorough-bred) tension structures such as cable net, air dome and tensegrity, so called hybrid tension structures such as beam string, tensegric system and other mixed structures have Potential still to be realized. After synnaruzubg the simple definition of tensegric structure, some holistic designs for hybrid tension structures completed recently in the author's practice are given.

• 국제학술발표논문집
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• The 1th International Conference on Construction Engineering and Project Management
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• pp.596-605
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• 2005

The cable dome, proposed by Geiger after developing Fuller's idea of tensegrity and improved by Levy, is a new type of large span space structures. In this paper, formulations of the initial forces distribution in members of two main systems of cable dome, which are Geiger dome and Levy dome, are presented. By analyzing the static performance of Levy dome and the variation of internal forces in members of the structure, four groups of design parameters in cable dome structure are represented in terms of: (1) the numbers of rings and the spaces between the rings; (2) the slopes of ridge cables; (3) the lengths of struts; (4) the initial force in one member of the structure.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1998년도 봄 학술발표회 논문집
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• pp.272-279
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• 1998

The purpose of this study is to show how to gain the morphology of the Hybrid Spatial Structures and to get the geometrical data such as node coordinates, member relationships and graphic images. To form spatial structures, we have developed morphological aspects of general spatial structures, programming process and techniques. Structural design has many processes. Especially, it is very important to consider the determination of structural configuration. Regular Hybrid Spatial Structures have complex configuration, so we need to make use of automated computer process to determine structural shape in Hybrid Spatial Structures. We have applied morphological aspects to double layer plate, single layer dome, double layer dome and tensegrity structure.

• 전산구조공학
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• 제10권3호
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• pp.195-202
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• 1997

최근, 텐세그러티(tensegrity)구조개념을 적용한 대공간구조시스템인 케이블돔구조는 구조물 전체의 관점에서는 하나의 자기평형상태를 만족하는 구조로서 돔과 같이 닫힌형상(closed form)의 구조에는 유리한 구조시스템이지만, 보울트(vault)와 같은 열린형상(openform)의 구조에는 적용상 문제가 있다. 따라서, 본 논문에서는 이 문제를 해결하는 방안중의 하나로서, <안정화된 단위요소>를 이용하여 장력안정트러스의 기본요소인 단위구조의 안정화를 지배하는 기하학적 매개변수들의 범위를 설정하는 방법이 제안되고 그 변수들의 상호관련성을 규명하고자 한다. 수치해석은, .alpha.가 안정화범위에 있을 경우, 여러가지 경우의 높이에 따른 중심위치(.alpha.), 트러스 부재에 의한 각(.theta.) 그리고 평면상의 비(x/y)와 같은 매개변수의 변화에 따라 안정화에 가장 지배적인 축력모드(N/sub 15/, N/sub 16/, N/sub 25/, N/sub 26/)들의 상호작용이 조사되었다.