• Steel and Composite Structures
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• 제1권2호
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• pp.213-230
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• 2001

This paper presents a simplified approach for the design of semi-continuous composite beams in braced frames, where specific attention is given to the effect of joint rotational stiffness. A simple composite beam model is proposed incorporating the effects of semi-rigid end connections and the nonprismatic properties of a 'cracked' steel-concrete beam. This beam model is extended to a sub-frame in which the restraining effects from the adjoining members are considered. Parametric studies are performed on several sub-frame models and the results are used to show that it is possible to correlate the amount of moment redistribution of semi-continuous beam within the sub-frame using an equivalent stiffness of the connection. Deflection equations are derived for semi-continuous composite beams subjected to various loading and parametric studies on beam vibrations are conducted. The proposed method may be applied using a simple computer or spreadsheet program.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2000년도 봄 학술발표회논문집
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• pp.347-354
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• 2000

The seismic behaviors of a bridge system with several simple spans are examined to see the effects of the longitudinal stiffness degradation due to abutment-soil interaction. The abutment-backfill system is modeled as one degree-of-freedom-system with nonlinear spring and linear damper. various soil-conditions surrounding the abutment such as loose sand, medium dense sand, and dense sand are considered in the bridge seismic analysis. The idealized mechanical model for the whole bridge system is modeled by adopting the multiple-degree-of-freedom system, which can consider components such as pounding phenomena, friction at the movable supports, rotational and translational motions of foundations, and the nonlinear pier motions. The stiffness of the abutment is found to be rapidly reduced at the beginning of the earthquakes, and to be converged to constant values shortly after the displacement approaches to the Predefined critical values. It is observed that the maximum relative distanced an maximum relative displacements are generally Increased as the relative density of a soil decreases As the peak ground acceleration increases, the response ratio of the case considering stiffness degradation to the case considering constant stiffness decreases.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.631-637
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• 2005

This paper presents a stiffness analysis method for a low-DOF parallel manipulator, which takes into account of elastic deformations of joints and links. A low-DOF parallel manipulator is defined as a spatial parallel manipulator which has less than six degrees of freedom. Differently from the case of a 6-DOF parallel manipulator, the serial chains in a low-DOF parallel manipulator are subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each limb can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness model of an F-DOF parallel manipulator consists of F springs related to the reciprocal screws of actuations and 6-F springs related to the reciprocal screws of constraints, which connect the moving platform to the fixed base in parallel. The $6{times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints. The six spring constants can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; the link can be considered as an Euler beam and the stiffness matrix of rotational or prismatic joint can be modeled as a $6{times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is zero. By summing the elastic deformations in joints and links, the compliance matrix of a serial chain is obtained. Finally, applying the reciprocal screws to the compliance matrix of a serial chain, the compliance values of springs can be determined. As an example of explaining the procedure, the stiffness of the Tricept parallel manipulator has been analyzed.

• 제어로봇시스템학회논문지
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• 제13권4호
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• pp.320-328
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• 2007

This paper presents a stiffness modeling of a low-DOF parallel robot, which takes into account of elastic deformations of joints and links, A low-DOF parallel robot is defined as a spatial parallel robot which has less than six degrees of freedom. Differently from serial chains in a full 6-DOF parallel robot, some of those in a low-DOF parallel robot may be subject to constraint forces as well as actuation forces. The reaction forces due to actuations and constraints in each serial chain can be determined by making use of the theory of reciprocal screws. It is shown that the stiffness of an F-DOF parallel robot can be modeled such that the moving platform is supported by 6 springs related to the reciprocal screws of actuations (F) and constraints (6-F). A general $6{\times}6$ stiffness matrix is derived, which is the sum of the stiffness matrices of actuations and constraints, The compliance of each spring can be precisely determined by modeling the compliance of joints and links in a serial chain as follows; a link is modeled as an Euler beam and the compliance matrix of rotational or prismatic joint is modeled as a $6{\times}6$ diagonal matrix, where one diagonal element about the rotation axis or along the sliding direction is infinite. By summing joint and link compliance matrices with respect to a reference frame and applying unit reciprocal screw to the resulting compliance matrix of a serial chain, the compliance of a spring is determined by the resulting infinitesimal displacement. In order to illustrate this methodology, the stiffness of a Tricept parallel robot has been analyzed. Finally, a numerical example of the optimal design to maximize stiffness in a specified box-shape workspace is presented.

• 한국강구조학회 논문집
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• 제16권5호통권72호
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• pp.629-639
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• 2004

철골조는 작용하중을 지탱하기 위한 구조시스템 중의 하나로 널리 사용되고 있고, 보와 기둥의 강성, 보와 기둥의 강성, 지점조건, 보강의 유무, $P-{\Delta}$효과 등의 변화에 따른 영향들을 포함하는 최적의 설계를 필요로 한다. 본 연구는 볼트 수의 변화에 의한 더블앵글 접합부의 회전강성 변화가 철골조의 거동에 미치는 영향을 파악하기 위하여 진행되었다. 또한, 수평 수직하중을 동시에 받는 더블앵글로 접합된 골조의 처짐에 대한 제한 조건을 만족하도록 하는 최대 허용하중 산정에 관한 연구도 병행하였다. 더블앵글 접합부의 회전강성을 얻기 위하여 접합부 실험을 수행하였고, 골조의 처짐 및 최대 작용하중을 정확하게 파악하기 위한 단순해석 모델도 제안하였다.

• 한국강구조학회 논문집
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• 제28권2호
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• pp.85-96
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• 2016

금상 하부 스플릿 티 접합부는 접합부를 구성하는 T-stub 플랜지의 두께, 고장력볼트의 게이지 거리, 고장력볼트의 개수 및 직경 등의 변화에 따라서 상이한 강도, 강성, 에너지소산능력 등을 발현한다. 이러한 상 하부 스플릿 티 접합부가 중 저층 강구조물에 적용될 경우에 전단력을 지탱하는 전단탭을 적용할 수 없는 상황이 발생한다. 이 때문에 충분한 휨모멘트지지능력뿐만 아니라 전단력도 지탱할 수 있는 개선된 상 하부 스플릿 티 접합부상세의 제안이 필요하다. 이 연구는 양재근 등이 해석적 연구와 실험적 연구를 수행하여 얻은 전단탭이 없는 상 하부 스플릿 티 접합부가 중 저층의 강구조물에 적용되었을 때 충분한 회전강성을 발현하는 가를 평가하기 위하여 진행하였다. 또한, 전단탭이 없는 상 하부 스플릿 티 접합부를 적용한 중 저층 강구조물이 안전한 구조적거동양상을 나타냄과 동시에 무차원화 된 초기 회전강성을 구조해석에 적용하여 재료적 물량저감 효과도 나타낼 수 있는 가를 평가하기 위하여 진행하였다.

• International journal of advanced smart convergence
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• 제9권4호
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• pp.26-33
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• 2020

This study measured the downward stepping movement relative to weight change (no load, and 10%, 20%, 30% of body weight respectively of adult male (n=10) from standardized stair (rise of 0.3 m, tread of 0.29 m, width of 1 m). The 3-dimensional cinematography and ground reaction force were also utilized for analysis of leg stiffness: Peak vertical force, change in stance phase leg length, Torque of whole body, kinematic variables. The strategy heightened the leg stiffness and standardized vertical ground reaction force relative to the added weights (p<.01). Torque showed rather larger rotational force in case of no load, but less in 10% of body weight (p<.05). Similarly angle of hip joint showed most extended in no-load, but most flexed in 10% of body weight (p<.05). Inclined angle of body trunk showed largest range in posterior direction in no-load, but in vertical line nearly relative to added weights (p<.001). Thus the result of the study proved that downward stepping strategy altered from height of 30 cm, regardless of added weight, did not affect velocity and length of lower leg. But added weight contributed to more vertical impulse force and increase of rigidity of whole body than forward rotational torque under condition of altered stepping strategy. In future study, the experimental on effect of weight change and alteration of downward stepping strategy using ankle joint may provide helpful information for development of enhanced program of prevention and rehabilitation on motor performance and injury.

• Journal of Magnetics
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• 제21권3호
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• pp.379-386
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• 2016

To satisfy the requirement of magnetically suspended control moment gyroscope (MSCMG) that magnetic bearing can provide torque, a novel 4DOF hybrid magnetic bearing (HMB) with integrated structure was designed. Mathematical models of forces and torques are established by using equivalent magnetic circuit method. The current stiffness, displacement stiffness, tilting current stiffness and angular stiffness of the 4DOF hybrid magnetic bearing are derived by the mathematical models. Equivalent magnetic circuit method and finite element method (FEM) simulation results indicate that the force has a good linear relationship with both displacement and current, and the torque has a good linear relationship with angular displacement and current. The novel 4DOF HMB is capable of achieving control in both two radial translational degrees of freedom (DOF) and also two radial rotational DOFs. The 4DOF HMB is well adapted to MSCMG system, exhibiting advantages in the controllable DOF, light weight and easy to control.

• Steel and Composite Structures
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• 제22권2호
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• pp.323-352
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• 2016

The results of a series of finite element (FE) simulations and experimental studies are used to develop strength and stiffness models that predict the failure capacity and response characteristics of unstiffened extended endplate connections with circular and rectangular bolt configurations associated with deep girders. The proposed stiffness models are composed of multi-linear springs which model the overall extended endplate/column flange system deformation and strength of key-components. Comparison of model predictions with FE and experimental results available in the literature show that the proposed models accurately predict the strength and the response of extended endplate/column system with circular and rectangular bolt configurations. The effect of the bolt configuration (circular and rectangular) on the prying phenomenon encountered in the unstiffened extended endplate/column system was investigated. Based on FE results, extended endplate with circular bolt configuration has a more ductile behavior and exhibits higher total prying forces. The proposed models can be used to design connections that cover all possible failure modes for extended endplate with circular bolt configuration. This study provides guidelines for engineers to account for the additional forces induced in the tension bolts and for the maximum rotational capacity demand in the connection which are required for seismic analysis and design.

• 한국정밀공학회지
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• 제32권2호
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• pp.117-125
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• 2015

This paper presents a dynamic modeling method for the indeterminate spindle-bearing system supported by multiple bearings of different types. A spindle-bearing system supported by ball and cylindrical roller bearings is considered. The de Mul's bearing model is extended for calculating ball and cylindrical roller bearing stiffness matrices with inclusion of centrifugal force and gyroscopic moment. The dependence between spindle shaft reaction forces and bearing stiffness is effectively resolved using an iterative approach. The spindle rotor dynamics is established with the Timoshenko beam theory based finite elements. The spindle reaction forces, bearings stiffness and spindle natural frequencies are obtained with taking into account spindle radial load, ball bearing axial preload and rotational speed effects. The developed method is verified by comparing the simulation results with those from a commercial program.