• Transactions of Materials Processing
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• v.29 no.5
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• pp.265-271
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• 2020

The purpose of this paper is to analyze the numerical simulation accuracy according to the CFRP modeling method in the CFRP-Al alloy SPR (Self-Piercing Rivet) joint process. The mechanical properties of the CFRP, aluminum sheet are precisely obtained from the tensile test according to the loading direction. Additionally, the hardening curve of rivet was calculated from the inverse analysis of the machined rivet-ring compression test. For the CFRP-Al alloy SPR simulation, two kinds of the CFRP modeling methods were established based on the continuum and layer-by-layer approaches. The simulation results showed that the CFRP layer-by-layer modeling method can provide more reliable prediction shape of the fractured sheets and deformed rivet. This simulation technique can be used in evaluating the CFRP-Metal SPR performance and designing the SPR process conditions.

• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.1-8
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• 2012

A humanoid robot hand with one thumb and two fingers has been developed. Each finger has the specially designed compact joints, called "MEC Joint", which convert the rotation of a motor to the swing motion of a pendulum. The robot hand with the MEC Joints is compact and relatively light but strong enough to grasp objects in the same manner as human being does in daily activities. In this paper the kinematic model and the torque characteristics of the MEC Joint are presented and compared with the results of the dynamic simulation and the dynamometer test. The dynamic behavior of the thumb and two fingers with MEC Joints are also presented by computer simulation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.8 no.6
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• pp.584-590
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• 1984

This study is to develop a program, with which the motion of the system can be simulated in view of kinematics and dynamics, and then evaluate functional capabilities of many robots in order to select the most suitable one for any given working conditions. According to the theory of Denavit & Hartenberg, rectangular coordinate is set at each joint in the robot of six joints, as this one is the major concern, and transformation matrices are derived between any two coordinates. The necessary displacement of each joint for executing a given a work is obtained from the position and posture transformation and the in-stantaneous velocity of the joint is got from given velocity distribution of the path. The necessary torque of each joint is finally calculated by Newton-Euler Method. This simulation program is applied to a robot with six rotational joints, Rotational angle and torque to time which has a given motion trajectory are figured and also torque to r.p.m.

• The Korean Journal of Applied Statistics
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• v.29 no.4
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• pp.729-739
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• 2016

Kruskal and Wallis (1952) proposed a nonparametric method to test the differences between more than three independent treatments. This procedure uses rank in mixed sample combined with more than three unlike populations. This paper proposes a the new procedure based on joint placements for a one-way layout as extension of the joint placements described in Chung and Kim (2007). A Monte Carlo simulation study is adapted to compare the power of the proposed method with previous methods.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.03a
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• pp.58-63
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• 2009

Biaxial compression test was conducted on a transversely isotropic synthetic jointed rock model for the understanding of the fracture behaviors of a sedimentary or metamorphic rocks with well developed bedding or foliation in uni-direction. The joint angles employed for the model are 30, 45, and 60 degrees to the horizontal, and the synthetic rock mass was made of early strength cement. From the biaxial compression test, initiation propagation of tensile cracks at norm to the joint angle was found. The propagated tensile cracks eventually developed rock blocks, which was dislodged from the rock mass. Furthermore, the propagation process of the tensile cracks varies with joint angle: lower joint angle model shows more stable and progressive tensile crack propagation. The experiment results were validated from the simulation by using discrete element method PFC 2D. From the simulation, as has been observed from the test, a rock mass with lower joint angle produces wider damage region and rock block by tensile cracks. In addition, a rock model with lower joint angle shows a progressive tensile cracks generation around the opening from the investigation of the interacted tensile cracks.

• Journal of the Korean Society of Safety
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• v.18 no.3
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• pp.69-74
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• 2003

To investigate the partial discharge and electric field distribution in cable joint parts, we measured the partial discharge and electric field in specimen. The specimens which cross-linked polyethylene(XLPE) and ethylene propylene diene ethylene(EPDM) are used to insulating material for underground cable md cable jointing parts. The polymers are used to insulating material in switchgear which is a kind of transformer equipment and in ultra-high voltage cable. Its using is increasing gradually, the electrical insulation properties are not only excellent but also mechanical property is excellent. And because it is possible to be made void of several type in insulator while it is produced, which the electrical field distribution is changed by void, it has a critical influence to insulator performance. The underground cable is connecting by the jointing material, insulating breakdown and the electric ageing which are caused by several mixing impurity and the damage of cable insulator layer, which reduced the life of cable while intermediate joint kit is connected. Therefore, the computer simulation is used to estimating insulator performance, XLPE is used to the insulating material of ultra-high voltage cable and EPDM is used to insulator layer in joint material kit, and which are produced as specimen. And it is analyzed the electric field concentrating distribution and partial discharge by modeling of computer simulation in void and cable joint kit.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.3
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• pp.133-140
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• 1993

In this paper, we prpose a method for tracking optimally a spatial trajectory of the end-effector of flexible robot arms with multiple joints. The proposed method finds joint trajectories and joint torques necessary to produce the desired end-effector motion of flexible manipulator. In inverse kinematics, optimized joint trajectories are computed from elastic equations. In inverse dynamics, joint torques are obtained from the joint euqations by using the optimized joint trajectories. The equations of motion using finite element method and virtual work principle are employed. Optimal control is applied to optimize joint trajectories which are computed in inverse kinematics. The simulation result of a flexible planar manipulator is presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.896-902
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• 2005

An orthopedic surgeon normally gets the operational parameters of total knee arthroplasty from medical images(CT, MRI). Anatomical axis, mechanical axis, the width and height of femur, or tibia are the most important parameters related with accomplishment of TKA. This paper presents a methodology of simulation that virtually operates TKA according to 2D medical images. Using this simulator, some important parameters for operation can be achieved before hand. The simulator provides the 3D computational model of a knee joint and then derives the proper size of implant corresponding to the joint. The whole process of TKA can be simulated such as clipping a knee joint, assembling the joint and its implants, visualizing all the operation steps, deriving some crucial parameters such as anatomical axis and cutting thickness, and predicting the result of TKA. Some examples are given and discussed to validate the methodology.

• Journal of Biomedical Engineering Research
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• v.31 no.2
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• pp.141-150
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• 2010

The purpose of this study was to analyze the golf swing motion for a soft golf clubs and regular golf club. Soft golf is a newly developed recreational sports for all ages, including the elderly and the beginners of golf. To quantify the effect of using soft golf club, which much lighter club than regular clubs, a motion analysis has been performed using a 3D optoelectric motion tracking system that utilizes active infrared LEDs and near-infrared sensors. The subject performed swing motion using a regular golf club and a soft golf club in turn. The obtained motion capture data was used to build a 3D computer simulation model to obtain left wrist, elbow shoulder and lumbar joint force and torque using inverse and forward dynamics calculations. The joint force and torque during soft golf swing were lower than regular golf swing. The analysis gave better understanding of the effectiveness of the soft golf club.

• Geomechanics and Engineering
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• v.21 no.3
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• pp.227-236
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• 2020

Non-destructive exploration using elastic waves has been widely used to characterize rock mass properties. Wave propagation in jointed rock masses is significantly governed by the characteristics and orientation of discontinuities. The relationship between spatial heterogeneity (i.e., joint spacing) and wavelength for elastic waves propagating through jointed rock masses have been investigated previously. Discontinuous rock masses can be considered as an equivalent continuum material when the wavelength of the propagating elastic wave exceeds the spatial heterogeneity. However, it is unclear how stress-dependent long-wavelength elastic waves propagate through a repetitive rock-joint system with multiple joints. A preliminary numerical simulation was performed in in this study to investigate long-wavelength elastic wave propagation in regularly jointed rock masses using the three-dimensional distinct element code program. First, experimental studies using the quasi-static resonant column (QSRC) testing device are performed on regularly jointed disc column specimens for three different materials (acetal, aluminum, and gneiss). The P- and S-wave velocities of the specimens are obtained under various normal stress levels. The normal and shear joint stiffness are calculated from the experimental results using an equivalent continuum model and used as input parameters for numerical analysis. The spatial and temporal sizes are carefully selected to guarantee a stable numerical simulation. Based on the calibrated jointed rock model, the numerical and experimental results are compared.