• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.6
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• pp.843-847
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• 2010

Recently, one of the most interesting issue in the intelligent robot and the industrial robot area is the design and an implementation of servo driver module based on motion network for hollow type joint module of all-in-one structure. In this paper, we designed and implemented for hollow type driver, and also verified the performance of the developed module through the experiment.

• Steel and Composite Structures
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• v.21 no.1
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• pp.137-156
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• 2016

Due to excellent advantages such as better illuminative effects, considerable material savings and ease and rapidness of construction, the bolted ball-cylinder joint which is a new type joint system has been proposed in space truss structures. In order to reveal more information and understanding on the behaviour of bolted ball-cylinder joints, full-scale experiments on eight bolted ball-cylinder joint specimens were conducted. Five joint specimens were subjected to axial compressive force, while another three joint specimens were subjected to axial tensile force. The parameters investigated herein were the outside diameter of hollow cylinders, the height of hollow cylinders, the thickness of hollow cylinders, ribbed stiffener and axial force. These joint specimens were collapsed by excessive deformation of hollow cylinders, punching damage of hollow cylinders, evulsion of bolts, and weld cracking. The strain distributions on the hollow cylinder opening were mainly controlled by bending moments. To improve the ultimate bearing capacity and axial stiffness of bolted ball-cylinder joints, two effective measures were developed: (1) the thickness of the hollow cylinder needed to be thicker; (2) the ribbed stiffener should be adopted. In addition, the axial stiffness of bolted ball-cylinder joints exhibited significant non-linear characteristics.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.417-423
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• 2012

In this paper, In order to make up for the weak point of driving structure that existing used single motor in motor design, as a method to make use of advantage for joint of hollow type, we propose implementation methods for high torque, high precision, backlash less, and design of secondary safety device, and application method through joint organization using multiple motors.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.1
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• pp.37-43
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• 2010

In this paper, we implement that hollow type joint using two more than general motor and design for compact structure embedded electronic parts in the development of 7 degree of freedom manipulator. We propose a method to overcome risk and the limit of operating radius which are point out as a limit of previous industrial robot. and also propose to more efficient and stable manipulator implement method.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.1
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• pp.109-115
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• 2019

In arc-welding applying to the present automobile part manufacturing process, a wrist-hollow type arc welding robot can shorten the welding cycle time, because feedability of a welding wire is not affected by a robot posture and thus facilitates high-quality arc welding, based on stable feeding with no entanglement. In this paper, we will propose the optimization of wrist design for a wrist-hollow type 6-Axis articulated robot. Specifically, we will perform the investigation on the optimized design of inner diameter of hollow arms (Axis 4 and Axis 6) and width of the upper arm by using the simulation of robot motion characteristics, using a Genetic Algorithm (i.e., GA). Our simulations are based on $SolidWorks^{(R)}$ for robot modeling, $MATLAB^{(R)}$ for GA optimization, and $RecurDyn^{(R)}$ for analyzing dynamic characteristics of a robot. Especially $RecurDyn^{(R)}$ is incorporated in the GA module of $MATLAB^{(R)}$ for the optimization process. The results of the simulations will be verified by using $RecurDyn^{(R)}$ to show that the driving torque of each axis of the writs-hollow 6-axis robot with the optimized wrist design should be smaller than the rated output torque of each joint servomotor. Our paper will be a guide for improving the wrist-hollow design by optimizing the wrist shape at a detail design stage when the driving torque of each joint for the wrist-hollow 6-axis robot (to being developed) is not matched with the servomotor specifications.

• Journal of the Korea institute for structural maintenance and inspection
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• v.21 no.1
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• pp.126-133
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• 2017

This paper presents the shear capacities of hollow slab with plate and octagonal pillar type hollow sphere. Recently, the interest in precast hollow slab system for buildings is growing up according to the demand for high quality control and the increase in slab thickness. A hollow slab system is widely known as one of the effective slab system which can reduce self-weight of slab. However, hollow slabs are vulnerable to the deterioration in the shear strength due to the decrease of concrete at slab web which resists shear. Especially, in case of precast hollow slabs, it has joint surface between precast concrete slab modules along transverse axis of slab, and shear failure, that is caused by cracks at joints, has to be prevented. Therefore, in this study, shear capacity of the I-slab system is evaluated by 3-points-supported shear test along the longitudinal and transverse axis of slab specimen. Test results showed that I-slab had enough shear strength compared to theoretical shear strength even if it included the joint surfaces.

• Journal of Korean Society of Steel Construction
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• v.17 no.5 s.78
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• pp.561-568
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• 2005

The object of this paper is to determine appropriateness for use of high-strength tensile bar as a tension web member. The gap K-joint of tensile bar types were compared with gap K-joint of square hollow section (SHS) types. For the same width-to-thickness ratio ($2{\gamma}=33.3$ ), tests were performed on four specimens of the SHS type and eight specimens of the tensile bar type. The comparison of capacity with the experimental results showed a capacity of the SHS type joint to be higher than that of the tensile bartype joint for the same brace-to-chord width ratio. Moreover, the capacity of the SHS type joints increased proportionally to the width ratio ${\beta}$), while tensile bar type joints increased as the tension width ratio (${\beta}2$). In failure mode, SHS-type specimens showed local buckling of the compression brace and plastic failure was observed between the tension brace and chord face, and with the tensile bar type specimens there appeared punching shear failure of the chord face at the toe of the connection plate. It is, therefore, concluded that width-to-thickness ratio should be lower than that of the hollow-section type and the relation between tension and compression width ratio should be considered.

• Steel and Composite Structures
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• v.43 no.1
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• pp.107-116
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• 2022

This paper presents results of numerical studies completed on unreinforced and doubler plate reinforced Elliptical Hollow Section (EHS) T-joints subjected to axial compressive loading on the brace member. Non-linear finite element (FE) models were developed using the finite element code, ABAQUS. Available test data in literature was used to validate the FE models. Subsequently, a parametric study was carried out to investigate the effects of various geometrical parameters of main members and reinforcement plates on the ultimate capacity of reinforced EHS T-joints. The parametric study found that the reinforcing plate significantly increases the ultimate capacity of EHS T-joints up to twice the capacity of the corresponding unreinforced joint. The thickness and length of the reinforcing plate have a positive effect on the ultimate capacity of Type 1 joints. This study, however, found that the capacity of Type 1 orientation is not dependent on the brace-to-chord diameter ratio. As for type 2 orientations, the thickness and length of the reinforcement have a minimal effect on the ultimate capacity. A new design method is introduced to predict the capacity of the reinforced EHS T-joints Type 1 and 2 based on the multiple linear regression analyses.

• Journal of Korean Society of Steel Construction
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• v.8 no.3 s.28
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• pp.35-45
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• 1996

The purpose of this paper is to investigate experimentally the strength and deformation of T-joints to improve the structural behavior of truss connection consisted in square hollow steel section. There are two-types to be changed in T-joint shape. One type is TP-series that a brace member is rotated to 45 degree, another type is TR-series that a chord member is rotated to 45 degree. The most important results obtained from the 2nd experiment on the T-joints is as follow; The yielding strength and initial stiffness of TP-series increase more than a current type(TS-series) in $0.6{\leq}{\beta}(d/D){\leq}0.7(0.85{\leq}{\beta}$'$(={\sqrt2}{\cdot}{\beta}){\leq}1.0)$.

• Journal of Korean Association for Spatial Structures
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• v.15 no.4
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• pp.65-72
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• 2015

To overcome the weakness of spread foundation in large space structure, the research of precast pile for replace spread foundation have been conducted. The new type of joint between PHC pile and steel column is named HAT Joint(Hollow hAlf-sphere cast-sTeel Joint). It connected PHC Pile by bolt that verification of bolt connection should be accomplished. In this paper, pull-out test and flexural performance for HAT Joint to verifying the bolt connection is explained. As a result, the pull-out and flexural capacities of bolt were checked to use in real structure. Furthermore, the equation of pull-out strength was proposed.