• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.11
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• pp.2967-2972
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• 1994

The multiple character of the contact interaction and the collective behavior of elementary microcontacts play a significant role in all the processes occurring in the surface layers, including the failure due to friction and wear. The array of metal spheres compressed between flat plates has been used for simulation of the contact behavior of multiple contact of solids under normal loading. An experimental design has been made providing regular array of the spheres at the same size with different spatial order. Measurement of electrial contact resistance has been made using the equipment providing the adequate accuracy in the range of micro Ohms. The data on electrical contact resistance have been compared with theoretical predictions using the multiple contact model of constriction resistance. The effect of single spots number and array on conductivity of contact has been evaluated.

• Tribology and Lubricants
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• v.12 no.4
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• pp.52-59
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• 1996

The results of the electrical contact conductivity of multi-contact spots accounting the surface roughness and the non-conductive films of different origins such as air, water, cutting oil, and machining oil are presented. The array of metal spheres compressed between two flat plates has been used for simulation of the contact behavior of multiple contact of solids, under normal loading. Measurement of electrical contact resistance has been made using the equipment providing the adequate accuracy in the range of micro Ohms. The data on electrical contact resistance have been compared with theoretical predictions using the multiple contact model of constriction resistance. The effect of single spot number and array on conductivity of contact has been evaluated. The results of the experiments show that the contact resistance are closely related to the number of loading cycles, form of surface roughness, and presence of non-conductive films that reduce the size of the real electrical contact spots.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.522-525
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• 1995

A manipulation of a multiple contacted object by a Rotational Base and Single-jointed Finger mechanism(RBSF mechanism) is discussed. The manipulation is characterized by multiple contacts on an object and large motions of the object with sliding contacts. The kinematics and dynamics allowing sliding at multiple contacts are explored. The conditions for manipulation of an object at multiple contacts by the RBSF mechanism, which cannot exert arbitrary contact forces because it has a fewer number of joints than is required for active control, is presented.

• Structural Engineering and Mechanics
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• v.36 no.1
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• pp.95-110
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• 2010

Two-dimensional elastic contact problems, including normal, tangential, and rolling contacts, are treated with the finite element method in this study. Stress boundary conditions and kinematic conditions are transformed into multiple point constraints for nodal displacements in the finite element method. Upon imposing these constraints into the finite element system equations, the calculated nodal stresses and nodal displacements satisfy stress and displacement contact conditions exactly. Frictional and frictionless contacts between elastically identical as well as elastically dissimilar materials are treated in this study. The contact lengths, sizes of slip and stick regions, the normal and the shear stresses can be found.

• The Journal of Korea Robotics Society
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• v.12 no.2
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• pp.161-172
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• 2017

Foot mechanisms play the role of interface between the main body of robotic systems and the ground. Biomimetic design of the foot mechanism is proposed in the paper. Specifically, multi-chained and multiple contact characteristics of general foot mechanisms are analyzed and their advantages are highlighted in terms of impulse. Using Newton-Euler based closed-form external and internal impulse models, characteristics of multiple contact cases are investigated through landing simulation of an articulated leg model with three kinds of foot. It is shown that in comparison to single chain and less articulated linkage system, multi-chain and articulated linkage system has superior characteristic in terms of impulse absorption as well as stability after collision. The effectiveness of the simulation result is verified through comparison to the simulation result of a commercialized software.

• KSTLE International Journal
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• v.2 no.1
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• pp.12-16
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• 2001

A finite element analysis of crack propagation in a half-space due to sliding contact was performed. The sliding contact was simulated by a rigid asperity moving across the surface of an elastic half-surface containing single and multiple cracks. Single, coplanar, and parallel cracks were modeled to investigate the interaction effects on the crack growth in contact fatigue. The analysis was based on linear elastic fracture mechanics and the stress intensity factor concept. The crack propagation direction was predicted based on the maximum range of the shear and tensile stress intensity factors.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.887-898
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• 2004

In this paper a mathematical framework fur deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.930-939
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• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• Tribology and Lubricants
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• v.16 no.5
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• pp.373-380
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• 2000

Finite element analysis is performed on the subsurface crack propagation in brittle materials due to sliding contact. The sliding contact is simulated by a rigid asperity moving across the surface of an elastic half-surface containing single and multiple cracks. The single crack, coplanar cracks and parallel cracks are modeled to investigate the interaction effects on the crack growth in contact fatigue. The crack location is fixed and the friction coefficients between asperity and half-space are varied to analyze the effect of surface friction on stress intensity factor for horizontal cracks. The crack propagation direction is predicted based on the maximum range of shear and tensile stress intensity factors. With a coplanar crack, the stress intensity factor was increased. However, with a parallel crack, the stress intensity factor was decreased. These results indicate that the interaction of a coplanar crack increases fatigue crack propagation, whereas that of a parallel crack decreases it.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1424-1429
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• 2004

In this paper a mathematical framework for deriving acceleration bounds from given joint torque limits of multiple cooperating robots are described. Especially when the different frictional contacts for every contact are assumed and the torque limits are given in 2-norm sense, we show that the resultant geometrical configuration for the acceleration is composed of corresponding parts of ellipsoids. Since the frictional forces at the contacts are proportional to the normal squeezing forces, the key points of the work includes how to determine internal forces exerted by each robot in order not to cause slip at the contacts while the object is carried by external forces. A set of examples composed of two robot systems are shown with point-contact-with-friction model and insufficient or proper degree of freedom robots.