• Journal of the Korean Geotechnical Society
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• v.16 no.6
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• pp.161-172
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• 2000

자연암석절리 및 인공 절리에 대하여 일정수직응력제어, 일정 수직하중제어 그리고 무한 강성제어가 가능한 암석 절리면 전단기 시험기를 개발하였다. 이 시험기는 전단변위에 의한 첩촉면적의 변화량을 계산하여 하중변화량을 조절하여 일정수직응력상태를 유지한다. 수직하중에 따른 시험기 강성에 의한 변화향이 제어 프로그램 내에서 제어되어 순수한 시편의 변위량을 출력하도록 하였다. 전단하중에 따른 시험기 강성에 의한 변위량은 상, 하부 전단상자의 상대변위 측정으로 최소화하였다. 전단거동 중의 자유도는 전당방향에 대하여 수평이도, 연직이동, 피칭, 롤링이 가능하도록 하였다. 자연절리면을 모사한 석고시편에 대하여 일정 수직응력 제어, 일정수직하중제어 그리고 무한 강성제어 조건으로 시험하여 제어상태 검증 및 비교를 하였다. 또한 경사각이 16.7˚와 22.6˚인 톱니형 시편에 대하여 시험한 결과 경사각 16.7˚와 22.6˚는 JRC로 10과 15를 나타내었으며, 첨두팽창각이 첨두전단강도에서 발생되며, Barton의 모델과 잘 일치함을 보였다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.10
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• pp.1195-1200
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• 2013

In recent years, variable stiffness actuation has attracted much attention because interaction between a robot and the environment is increasingly required for various robot tasks. Several variable stiffness actuators (VSAs) have been developed; however, they find limited applications owing to their size and weight. For realizing their widespread use, we developed a compact and lightweight mini-VSA. The mini-VSA consists of a control module based on an adjustable moment arm mechanism and a drive module with two motors. By controlling the relative motion of cams in the control module, the position and stiffness can be simultaneously controlled. Experimental results are presented to show its ability to change stiffness.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.8
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• pp.128-138
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• 1996

Based on the virtual stiffness model, the stiffness of a grasped object is characterized. Differing from the previous investigations, the effect of grasp force on the stiffness of a grasp is formulated in terms of additional stiffness, which is called additional stiffness in this paper, and it is addressed how this term affects the stability of a grasp. In addition, a method of controlling the stiffness of a grasp is proposed and validated by experiments using a two-fingered robot hand.

• ICROS
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• v.2 no.6
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• pp.14-19
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• 1996

본 해석에서는 새로운 기법을 사용하여 차량의 엔진에 의한 가진력이 차체에 최소한으로 전달되도록 엔진마운트의 최적 위치와 마운트의 강성을 결정하였다. 차량은 엔진과 차체 및 Suspension이 고려되어 16 자유도계로 모델링하였으며 각각의 입력 자료에 의하여 계산된 응답에 의하여 구한 마운트의 위치와 마운트의 강성을 통하여 엔진으로부터 차체로 전달되는 전달력을 최소화하는 마운트의 위치 및 강성의 최적화를 수행하였다.

• Journal of Korean Association for Spatial Structures
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• v.5 no.3 s.17
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• pp.91-100
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• 2005

The paper presents a direct method for the diplacement control and stiffness redesign using displacement and response force contribution factors. At first, these two kinds of factors are derived and the relationship between them is examined. An equation to evaluate the change of displacement according to the change of each member stiffness is proposed. For the statically determinate structures, the proposed equation gives the exact solution with no approximation. But it has some error in case of statically indeterminate structures because the redistribution of response forces is neglected in the equation. However, the equation may be very useful even for statically indeterminate structures because it provides the relationship between the member stiffness and the global displacement. The proposed method is expected to be useful for the displacement control of large space or hi-rise building structures where the stiffness design governs the design result.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.22 no.1
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• pp.81-88
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• 2009

This paper alined at the development of a lateral drift control method that is able to quantitatively control the lateral drift of global node. For this, we applied an efficient partial reanalysis algorithm. By using this algorithm, we could recalculate the displacement and member force of the specific node without reanalyzing the entire structure when member stiffness changes partially. The theoretical concepts of the algorithm are so simple that it is not necessary to solve the complicate differential equation or to repeat the analysis of entire structure. The proposed method calculates the drift contribution of each member for the global displacement according to the variation of section sizes by using the algorithm. Then by changing the member sizes as the order of drift contribution, we could control the lateral drift of global node with a minimum quantity of materials. 20 story braced frame structure system is presented to illustrate the usefulness of proposed method. It is shown that the proposed method is very effective in lateral drift control and the results obtained by proposed method are consistent with those of commercial analysis program.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2010.04a
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• pp.721-724
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• 2010

아웃리거 시스템은 고층건물의 구조설계 시에 횡변위를 제어하기 위해 사용되는 가장 효율적이고 널리 사용되는 구조시스템 중 하나이다. 아웃리거는 설치 위치의 최적성에 따라 횡변위 제어효과에 상당한 차이가 있으며, 1970년대 이후부터 아웃리거의 최적위치에 관한 연구가 활발히 진행되어 왔다. 아웃리거의 최적위치는 구조물의 전단벽, 아웃리거, 외각기둥의 요소간 강성비에 따라 변하는 값이므로, 아웃리거 시스템의 횡변위는 요소간 강성비와 아웃리거 위치 모두에 의해 영향을 받는다. 따라서 초기구조설계 단계에서 아웃리거의 위치에 대한 결정과, 각 요소간 강성비의 선택은, 전체 구조 시스템의 효율성에 상당한 영향을 미치게 된다. 하지만 아웃리거 시스템의 최적 효율을 보장하면서, 구조물의 초기 설계 시에 참고할 수 있는, 아웃리거의 최적위치와 요소간 강성비에 대한 연구는 미흡한 실정이다. 따라서 본 연구에서는 GA(genetic algorithm)을 이용하여 초기 설계 시에 참고할 수 있는 고층건물의 횡변위를 최소로 하는, 아웃리거의 최적 위치 및 요소간 강성비에 대한 연구를 진행하고자 한다. 이를 위해 시공된 예제 건물에 적용을 통해 그 효과를 검증해 본다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.259-262
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• 2001

An improved robust hybrid control law is proposed. This law used the separated bounding function and the stiffness bound. It satisfied the performance though we don't know precise information of contact environments. It guarantees the practical stability in sense of Lyapunov. Simulation was performed to validate this law using a four-axis SCARA type robot manipulator.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.517-522
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• 2000

When a real robot manipulator is mathematically modeled. uncertainties are not avoidable. The uncertainties are often nonlinear and time-varying. The uncertain factors collie from imperfect knowledge ok system parameters. payload change. friction. external disturbance. and etc. In this paper. we propose a class of robust hybrid controls of manipulators without knowing the exact stiffness and provide the stability analysis. Simulation results are provided to show the effectiveness of the algorithms.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.9
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• pp.2284-2296
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• 1994

Force control of robotic mechanisms continues to be a challenging area. Previous implementation have seldom produced satisfactory results, and researchers in the past have experienced significant instability problems associated with their force controllers. In this study, a new stability factor in force control will be pointed out. When a manipulator is constrained to an environment(force-controlled), geometric instability due to the relationship between the manipulator configuration and the force-controlled direction is shown to be a significant factor in overall system stability. This exploratory study points out a rather intuitive, geometrically based stability factor in terms of an effective system stiffness and analyzes the phenomenon both analytically and graphically. Also, a stiffness control algorithm using the kinematic redundancy of a kinematically redundant manipulator is proposed to improve the overall stability in force control.