• Journal of Welding and Joining
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• 제19권5호
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• pp.548-554
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• 2001

The restraint force is required an accurate measurement and analysis to protect weldment from residual stress. Also, this residual stress caused by clacks in weldments are often observed in the weldments of large size nozzles or radial tanks after welding. This paper is preformed on the study of evaluation of welding restraint forces using load cell with STS thin plate which are using pressure vessel steel in the industry field. As a result of this study, as the welding currents are higher and the welding speeds are more slowly, the magnitude of restraint force in process of the flat plate welding hows to be more large. Also, the temperature in process of melting is increasingly rising, then the restraint forces exhibit the compressive forces, whereas the restraint forces during cooling represent extensional force.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2000년도 봄 학술발표회논문집
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• pp.253-259
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• 2000

This thesis investigated the behavior of super structure by varying the factors such as the change of pile rigidity, the characteristics of soil and the constraint condition of support. The results of this study are as follows; 1. The pile rigidity in the Fig 3.3 computed by the rotating deformed plane method becomes the elastic range at approximately about 5.1 m (D : 1.0 m) below the ground level. This result is consistent with the previous study that the pile deformation occurs approximately 3 to 6 times pile diameter from the pile head. 2. The values of forces and deformations for the structure-pile system in Y-direction appeared larger than that in X-direction, since the pile rigidity and constraint condition of support were changed as shown Fig.3.5 to 3.8. 3. The current practice for the analysis of structure-pile system has not considered the variation of pile rigidity and the constraint condition of support. So, the analysis of structure-pile system with large difference in super-structure rigidity must includes these factors in both X and Y directions.

• 한국정밀공학회지
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• 제15권3호
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• pp.127-132
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• 1998

Mobile wheeled robots are nonholonomically constrained systems. Generally, it is very difficult to describe the motion of mechanical systems with nonintegrable nonholonomic constraints. An objective of this study is to describe the motion of a robot with a free wheel. The motion of holonomically and/or nonholonomically constrained system can be simply determined by Generalized Inverse Method presented by Udwadia and Kalaba in 1992. Using the method, we describe the exact motion of the robot and determine the constraint force exerted on the robot for satisfying constraints imposed on it. The application illustrates the ease with which the Generalized Inverse Method can be utilized for the purpose of control of nonlinear system without depending on any linearization, maintaining precision tracking motion and explicit determination of control forces of nonholonomically constrained system.

• 대한기계학회논문집A
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• 제36권7호
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• pp.745-750
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• 2012

이 논문에서는 강체 메커니즘의 위상 최적설계를 위해 제안된 구속조건 힘 설계 기법(constraint force design method)을 확장하여 로프-링크(string-link)를 고려한 위상 최적설계기법을 제안한다. 기존의 메커니즘 설계이론을 이용하여 메커니즘을 구성하는 강체 링크의 길이와 조인트의 위치를 최적설계하는 것은 가능하다. 하지만 강체 메커니즘의 최적 위상을 설계하는 것은 어렵다는 것으로 알려져 있다. 강체 메커니즘의 최적 위상을 설계할 수 있는 기법인 구속조건 힘 설계 기법이 본 연구자들에 의해 제안되었다. 구속조건 힘 설계 기법은 이진수 설계 변수를 이용하여 강체 링크의 위상 최적설계를 가능하게 한다. 이번 연구에서는 강체 링크뿐만 아니라 로프-링크로 구성된 메커니즘을 위상 최적설계하기 위한 발전된 해석기법과 설계 기법을 제안한다.

• Journal of Mechanical Science and Technology
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• 제16권6호
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• pp.810-818
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• 2002

When the contribution of lightweight components to the total energy of a system is small, tole inertia effects are sometimes ignored by replacing them to massless links. For example, a revolute-spherical massless link generates two kinematic constraint equations between adjacent bodies and allows four relative degrees of freedom. In this paper, to implement a massless link systematically in a computer program using the velocity transformation technique, the velocity transformation matrix of massless links is derived and numerically implemented. The velocity transformation matrix for a revolute-spherical massless link and a revolute-universal massless link are appeared as a 6$\times$4 matrix and a 6$\times$3 matrix, respectively. A massless link model in a suspension composite joint transmitting external forces is also developed and the numerical efficiency of the proposed model is compared to a conventional multibody model. For a massless link transmitting external forces, forces acting on links are resolved and transmitted to the attached points with a quasi-static assumption. Numerical examples are presented to verify the formulation.

• 한국통신학회논문지
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• 제18권4호
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• pp.490-498
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• 1993

연속 영상으로부터 속도를 측정하는 많은 방법들은 영상에서 밝기 함수의 시간 경사와 공간 경사사이의 관계를 이용한다. 대부분의 경우에 있어서 이 관계만으로는 관측화소의 속도를 유일하게 결정할 수 없기 때문에 추가적인 제한이 필요하다. Horn과 Schunck는 영상에서 속도장은 smooth하게 변해야 한다는 제한을 제안하였다. 그러나 이 제한을 사용하며 운동 경계 부분에서 속도장이 흐려진다는 단점이 나타난다. 이와 같은 단점을 보완하기 위하여 Nagel은 영상의 밝기 함수가 적게 변하는 방향으로만 속도의 변화를 제한하는 방향성 smoothness 제한을 사용하였다. 한편 Paquin과 Dubois는 다른 형태의 제한, 즉 영상의 작은 영역내에서의 속도는 같다는 제한을 제안하였다. 그러나 이제한 역시 속도장의 큰 변화가 존재하는 운동 경계 부분에서는 적합하지 못하다. 우리는 영상에서 밝기 함수의 불연속에 관한 정보를 이용함으로써 위의 문제를 해결하기 위한 방법을 제안하고, 새로운 방법에 대한 실험 결과를 나타낸다.

• Journal of Welding and Joining
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• 제10권1호
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• pp.35-42
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• 1992

In this study, the stress concentration phenomenon for the dissimilar joints(ceramic-metal) bonded by thermal treating using a soft-insert metal(copper) was investigated with the aid of FEM(finite element method) under the load condition of uniform tension. The analysis was carried out by the supposing that stress states are plane stress or plane strain and elastic or elastic-plastic. And the Von Mises yield criterion and the incremental theory as plastic flow were adopted in this analysis. As the summarized results obtained, the stress concentration phenomenon was severer as the soft insert metal was thicker, in plane strain than in plane stress and in elastic-plastic state than in elastic state. Furthermore, the inducing mechanism of stress concentration was well expressed by the constraint forces(Fc) generated between the soft and the hard material.

• Journal of Mechanical Science and Technology
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• 제17권9호
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• pp.1287-1296
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• 2003

In this paper the dynamic analysis of the Macpherson strut motor-vehicle suspension system is presented. The equations of motion are formulated using a two-step transformation. Initially, the equations of motion are derived for a dynamically equivalent constrained system of particles that replaces the rigid bodies by applying Newton's second law The equations of motion are then transformed to a reduced set in terms of the relative joint variables. Use of both Cartesian and joint variables produces an efficient set of equations without loss of generality For open chains, this process automatically eliminates all of the non-working constraint forces and leads to an efficient solution and integration of the equations of motion. For closed loops, suitable joints should be cut and few cut-joints constraint equations should be included for each closed chain. The chosen suspension includes open and closed loops with quarter-car model. The results of the simulation indicate the simplicity and generality of the dynamic formulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1487-1490
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• 2003

In this paper, the application of object-oriented Data Model to develop a multibody dynamic system, called O-DYN, is introduced. Mechanical components, such as bodies, joints, forces are modeled as objects which have data and method by using object-oriented modeling methodology. O-DYN, a dynamic analysis system, based on the object-oriented modeling concept is made in C++. One example is analyzed through the O-DYN, It is expected that the analysis program or individual module constructed in this paper would be useful for mechanical engineers in predicting the dynamic responses of multibody systems and developing an analysis program

• Journal of Advanced Marine Engineering and Technology
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• 제30권3호
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• pp.428-437
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• 2006

This paper attempts to derive and analyze the dynamic system of grasping a rigid object by means of two multi-degrees-of-freedom robot flngers with soft and deformable tips. It is shown firstly that a set of differential equation describing dynamics system of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It is shown secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this paper. the control method for dynamic stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the dynamic stable grasping of the dual fingers robot with soft tips.