• Computers and Concrete
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• 제26권3호
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• pp.239-255
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• 2020

Experimental and discrete element method were used to investigate the effects of joint number and its angularities on the shear behaviour of joint's bridge area. A new shear test condition was used to model the gypsum cracks under shear loading. Gypsum samples with dimension of 120 mm×100 mm×50 mm were prepared. the length of joints was 2cm. in experimental tests, the joint number is 1, 2 and 3 and its angularities change from 0° to 90° with increment of 45°. Assuming a plane strain condition, special rectangular models are prepared with dimension of 120 mm×100 mm. similar to joints configuration in experimental test, 9 models with different joint number and joint angularities were prepared. This testing show that the failure process is mostly governed by the joint number and joint angularities. The shear strengths of the specimens are related to the fracture pattern and failure mechanism of the discontinuities. The shear behaviour of discontinuities is related to the number of induced tensile cracks which are increased by increasing the rock bridge length. The strength of samples decreases by increasing the joint number and joint angularities. Failure pattern and failure strength are similar in both of the experimental test and numerical simulation.

• 로봇학회논문지
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• 제11권3호
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• pp.163-171
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• 2016

A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2004년도 ICEIC The International Conference on Electronics Informations and Communications
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• pp.263-268
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• 2004

The inverse kinematics problem is to find a set of joint variable values that will place the end effector of a robot manipulator into a given pose. Pieper has shown that a sufficient condition for a manipulator to have a closed form solution is that three adjacent joint axes intersects, hence the six axes robot with spherical wrist allows closed form solution. But many industrial robots have a non-spherical wrist to provide a stronger wrist configuration so that they can handle heavy payloads. Also, the use of a non-spherical wrist can result in a cheap and simple wrist arrangement than when all three axes intersect at a common point. In these cases, closed form solutions cannot be found. Therefore numerical technique must be used to solve the inverse kinematics equations. This paper proposes a new algorithm that can be used for finding inverse kinematics solution of the six axes robot with non-spherical wrist. Computer simulations are provided to prove the usefulness of our method.

• 한국컴퓨터그래픽스학회논문지
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• 제2권2호
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• pp.29-36
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• 1996

이 논문은 가상환경 내에서 참여자들이 통신망을 통하여 서로 상호작용을 하는 경우 요구되는 애니메이션 기술과 제반 문제들을 다룬다. 각 참여자의 상태는 그 참여자가 속해있는 지역 사이트에서 파악되어 다른 사이트에 broadcast 된다. 각 사이트에서는 다른 참여자들의 정보를 모아 그 지역 사이트 참여자의 시점에 맞도록 실시간에 scene을 그려 주어야 한다. 대부분의 경우 최소의 정보만이 교환되므로, 애니메이션 기법을 사용하여 들어오는 저 자유도의 동작 parameter들을 애니메이트 되는 사람의 configuration을 완전히 결정해 주는 고 자유도의 joint angle들로 변환해 주게된다. 이 논문에서는 저 자유도의 동작 parameter들을 고 자유도의 joint angle들로 변환할 때 적용할 수 있는 일반적인 방법을 보여준다. 또한, 이 방법을 적용한 예로서, 저자가 지난 5년동안 개발해온 소프트웨어 시스템 VRLOCO를 소개한다.

• Computers and Concrete
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• 제17권6호
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• pp.723-737
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• 2016

In this paper an approach was described for determination of direction of sliding block in rock slopes containing planar non-persistent open joints. For this study, several gypsum blocks containing planar non-persistent open joints with dimensions of $15{\times}15{\times}15cm$ were build. The rock bridges occupy 45, 90 and $135cm^2$ of total shear surface ($225cm^2$), and their configuration in shear plane were different. From each model, two similar blocks were prepared and were subjected to shearing under normal stresses of 3.33 and $7.77kg/cm^{-2}$. Based on the change in the configuration of rock-bridges, a factor called the Effective Joint Coefficient (EJC) was formulated, that is the ratio of the effective joint surface that is in front of the rock-bridge and the total shear surface. In general, the failure pattern is influenced by the EJC while shear strength is closely related to the failure pattern. It is observed that the propagation of wing tensile cracks or shear cracks depends on the EJC and the coalescence of wing cracks or shear cracks dominates the eventual failure pattern and determines the peak shear load of the rock specimens. So the EJC is a key factor to determine the sliding direction in rock slopes containing planar non-persistent open joints.

• International Journal of Automotive Technology
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• 제6권6호
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• pp.657-663
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• 2005

Recently, weight reduction of vehicles has been of great interest, and consequently the use of composite materials in the automotive industry is increasing every year. Composite sandwich panels which consist of two skins and core materials are replacing steels in automotive floor and door. The substitution of one material for another is accompanied by change of joining method, so that adhesive bonding has been popularly used for joining method of composite materials. In the case of adhesive bonding of composite materials, there could be loss in the joint strength by delamination of two faceplates or cracking on faceplate. Thus, it is necessary to prevent loss in the joint strength by designing the joint geometry. In the present paper, adhesive bonding of aluminum sandwich sheet was tried. For understanding joint behavior, studies on stresses in the single lap joint were reviewed and failure modes of composite material were analyzed. Strength tests on the single lap joint consisting of aluminum sandwich sheet and steel were performed and variation of the joint strength with the joint configuration was shown. Based on these results, design guide of adhesive bonding in aluminum sandwich sheet was suggested.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.399-402
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• 1993

In this paper, an inverse kinematics of redundant manipulators is proposed. Optimality-constraint based inverse kinematic algorithms have some problems because those algorithms are based on necessary conditions for optimality. Among the problems, switching from a maximum value to a minimum value may occur and make an inverse kinematic solution unstable while performing a given task. An inverse kinematic solution for protecting from the switchings is suggested. By sufficient conditions for optimality, the configuration space is defined as a set of regions, potentially good configuration region and potentially bad configuration region. Inverse kinematics solution within potentially good configuration region can provide joint trajectories without both singularities and switchings. Through a simulation of tracing a circle, we show the effectiveness of this inverse kinematics.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 1995년도 특별강연 및 추계학술발표 개요집
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• pp.145-148
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• 1995

To provide better understanding of a solder joint design criteria, mathematical models have been developed to calculate the shape of the solder fillets formed between the pad and lead. The effects of parameters such as solder volume and pad dimensions are described with this model. In this study, a systematic way to determine the design criteria of the SMT from the predicted 3D solder joint profile is proposed. The solder joint profile is calculated using the available 3D FEM code which minimizes the system energy due to the surface tension and gravity. The solder joint profiles of gullwing-type lead such as QFP and SOP are calculated for design parameters, and acceptable ranges are obtained. The result shows that the pad length is the most significant factor compared with the pad width and pad area.

• 한국구조물진단유지관리공학회 논문집
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• 제10권5호
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• pp.187-193
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• 2006

도로교 프리캐스트 바닥판의 현장 조인트로써 특수한 구조의 클램프를 이용하여 새로운 형식의 조인트를 개발하였다. 이 클램프 조인트에 의한 방법은 클램프를 이용하여 주철근을 루프 조인트에 연결하는 방법이다. 현재까지 일반적으로 사용되고 있는 루프 조인트와 비교하여 시공성 경제성이 우수하고 클램프의 인터록킹에 의하여 휨모멘트 전단내력에 효과를 나타내었다. 본 논문은 휨 강성 및 전단내력의 실험을 통하여 조인트의 파괴 메커니즘과 다양한 정적 거동의 결과를 규명하고자 일련의 실험을 수행하였다. 이러한 실험 연구의 결과로부터 루프조인트와 동등한 성능을 갖고 있다는 결론을 얻었다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.895-901
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• 1993

This paper present controller designs based on the configuration control framework for a redundant manipulator to accomplish the basic task of desired, end-effector motion, while utilizing the redundancy to achieve the additional tasks such as joint motion control, obstacle avoidance, singularity avoidance. etc. A task based decentralized adaptive scheme is then applied for the configuration variables to track some reference trajectories as close as possible. Simulation results for a direct-drive three-link arm in the vertical plane demonstrate its capabilities for performing various useful tasks.