• Journal of the Korean Society of Industry Convergence
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• v.15 no.1
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• pp.5-11
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• 2012

The Buckling of the member under compressive stress is likely to occur, which is an important factor determining the strength of structures. The objective of this study was to evaluate the member buckling strength of a circular hollow steel with ball joints and to compare with design specifications for load resistance factor of our country. Furthermore, we would like to suggest basic data for evaluation of buckling length of a circular hollow steel with ball joints according to comparative analysis. These results were summarized as follows: Buckling stress according to the test results on buckling was 1.21 times greater than LSD specifications of our country estimated the entire length of circular hollow steel with ball joints as buckling length. In addition, it was 1.16 times greater than when estimating the length except the ball as buckling length and 1.14 times grater than when excluding the ball and sleeve. Therefore, when estimating buckling stress of circular hollow steel with ball joints, their buckling length may be measured by the length except ball and sleeve.

• 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.

• Steel and Composite Structures
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• v.20 no.6
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• pp.1323-1343
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• 2016

This paper presents the results of an extensive numerical analysis program devoted to the investigation of the mechanical behaviour of bolted ball-cylinder joints. The analysis program is developed by means of finite element (FE) models implemented in the non-linear code ABAQUS. The FE models have been accurately calibrated on the basis of available experimental results. It is indicated that the FE models could be used effectively to describe the mechanical performance of bolted ball-cylinder joints, including failure modes, stress distributions and load-displacement curves. Therefore, the proposed FE models could be regarded as an efficient and accurate tool to investigate the mechanical behavior of bolted ball-cylinder joints. In addition, to develop a further investigation, parametric studies were performed, varying the dimensions of hollow cylinders, rectangular tubes, convex washers and ribbed stiffener. It is found that the dimensions of hollow cylinders, rectangular tubes and ribbed stiffener influenced the mechanical behaviour of bolted ball-cylinder joints significantly. On the contrary, the effects of the dimensions of convex washers were negligible.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1814-1819
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• 2005

This paper describes the development of a Stewart platform-based robot force sensor with distinctive structure of ball joints. The number of ball joints is only a half of the similar style sensors, so it is possible to reduce size and weight of the sensor. The structure of ball joint is described and discussed. Furthermore, we use strain gauges, but not liner voltage differential transformers, as sensing elements, in order to reduce size and weight of the sensor. It is also proposed that beams are replaced with pipes as sensing elements of the sensor. The ball joints and sensing elements with pipes can effectively reduce the error of the sensor. A geometric analysis model is also proposed. The external force and its moment can be measured with this model. Moreover, the performance of this sensor was tested. The test results conducted to evaluate the sensing capability of the sensor is reported and discussed.

• Journal of the Korean Society of Safety
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• v.25 no.6
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• pp.14-21
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• 2010

A miniature single solder ball joint is designed to mimic the actual solder joints used in the micro-electric industries. Shear tests were conducted to evaluate the mechanical behavior of miniature single solder joints at intermediate strain rates from $0.019\;s^{-1}$ to $2.16\;s^{-1}$ at room temperature. The shear fracture strength of the present solder ball joints generally increased with increasing shear strain rate, ranging from 32 to 51MPa. This behavior is affected by the sensitivity of bulk solder strength to strain rate. Shear fracture mode changed from brittle to partial ductile (failure inside the bulk solder) with an increase of shear speed. The unloading shear fracture toughness is generally consistent with the measure of the amount of bulk solder on the fractured surface.

• Structural Engineering and Mechanics
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• v.9 no.3
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• pp.289-304
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• 2000

This study discusses on the experimental and analytical results of the global buckling tests, carried out on aluminum alloy double layer space grids composed of tubular members, ball joints and connecting bolts at the member ends, with the purpose of demonstrating the effectiveness of a simplified analysis method using an equivalent slenderness ratio for the members. Because very few experiments have been carried out on this type of aluminum space grids, the buckling behavior is investigated experimentally over the post buckling regions using several space grid specimen with various values for the member slenderness ratio. The observed behavior duping the experiments is compared with the analytically obtained results. The comparison is made based on two different schemes; one on the plastic hinge method considering a bending moment-axial force interaction for members and the other on a method using an equivalent slenderness ratio. It is confirmed that the equivalent slenderness method can be effectively applied, even in the post buckling regions, once the effects of the rotational rigidity at the ball joints are appropriately evaluated, because the rigidity controls the buckling behavior. The effectiveness of the equivalent slenderness method will be widely utilized for estimation of the ultimate strength, even in post buckling regions for large span aluminum space grids composed of an extreme large number of nodes and members.

• Journal of Welding and Joining
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• v.20 no.1
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• pp.47-54
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• 2002

Powder type Ag system insert metals were manufactured by ball milling process. The variables of milling process such as milling media, revolution speed and powder/ball weight ratio were constant except the milling time. The milling times were selected for 24, 48 and 72 hours. The insert metals made by milling process were evaluated by performing scanning electron microscope, x-ray and DSC(differential scanning calorimetry) analysis, and further in terms of wettability test. The selected insert metals that have the good characteristics compared to commercial insert metals were applied to make the brazed joints of the steel/steel and the steel/WC superhard particles. The characterizations of those brazed joints were also conducted by microstructural observations, shear tensile tests and microhardness measurements. The results indicated that milling time of 48 hours for making powder type insert metals was the best condition showing the small amount of oxides residue, low wetting angle and stable microstructure. The brazed joints that applied the 48 hours milled insert metal were very sound condition indicating the shear tensile value of $2.29{\times}102$ MPa and the microhardness of 138VHN. Further, the amount of the porosity was appeared to be lower than that of the commercial insert metals.

• Journal of the Korean Society of Safety
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• v.27 no.6
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• pp.7-13
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• 2012

A lack of study on the dynamic tensile strengths of Sn-based solder joints at high strain rates was the motivation for the present study. A modified miniature Charpy impact testing machine instrumented with an impact sensor was built to quantitatively evaluate the dynamic impact strength of a solder joint under tensile impact loading. This study evaluated the tensile strength of lead-free solder ball joints at strain rates from $1.8{\times}10^3s^{-1}$ and $8.5{\times}10^3s^{-1}$. The maximum tensile strength of the solder ball joint decreases as the load speed increases in the testing range. This tensile strength represented that of the interface because of the interfacial fracture site. The tensile strengths of solder joints between Sn-3.0Ag-0.5Cu and copper substrate were between 21.7 MPa and 8.6 MPa in the high strain range.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.458-461
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• 1997

We have developed a human-sized BWR(biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gar ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. For the purpose of autonomous walking and higher performance, we improved the previous developed BWR. We improved the motor drive efficiency, designed the ball screw actuator in a modular type, and simplified the electric wires. Through this modification, we achieved better performance in walking.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.6
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• pp.484-491
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• 2002

We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.