• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.222-229
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• 2011

In this paper, we present the concept and main mission of the Crabster, an underwater walking robot. The main focus is on the modeling of drag and lift forces on the legs of the robot, which comprise the main difference in dynamic characteristics between on-land and underwater robots. Drag and lift forces acting on the underwater link are described as a function of the relative velocity of the link with respect to the fluid using the strip theory. Using the translational velocity of the link as the rotational velocity of the joint, we describe the drag force as a function of joint variables. Generalized drag torque is successfully derived from the drag force as a function of generalized variables and its first derivative, even though the arm has a roll joint and twist angles between the joints. To verify the proposed model, we conducted drag torque simulations using a simple Selective Compliant Articulated Robot Arm.

• Structural Engineering and Mechanics
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• v.60 no.5
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• pp.903-921
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• 2016

To study the effect of looseness on mechanical behavior of dovetail mortise-tenon joints, five dovetail mortise-tenon joints, including one intact joint and four loose joints, were fabricated and tested under cycle lateral loadings, and non-linear finite element models using the software ABAQUS were also developed. The effects of looseness on stress distribution, rotational stiffness and bearing capacity of joints were studied based on the analysis of test and simulation results. The results indicate that the hysteretic loops are anti-Z-shaped and present typical characteristics of pinching and slippage, the envelop curves of joints are classified as following two stages: elastic and strengthening stage. The peak stress, rotational stiffness and bearing capacity of joints were reduced due to looseness. The moment-rotation theoretical model of intact joint was simplified in terms of the relation of construction dimensions for buildings, and the moment-rotation theoretical model considering the effect of looseness was proposed and validated.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.453-458
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• 2008

Under driving condition, A vehicle experiences various kinds of loads, which brings on the buckling and fracture of suspension systems. Lower control arm (LCA), which consists of 2 bush joints and 1 ball joint connection, is the one of the most important parts in the suspension system. The bush joints absorb the impact load and reduce the vibration from the road. When analyzing the LCA behavior, it is important to understand the material properties and boundary conditions of bushing systems correctly, because of the nonlinearity characteristics of the rubber. In this paper, in order to predict the large scale deformation of the LCA more precisely, three factors are newly suggested, that is, coupling of bush stiffness between translation and rotation, bush extraction force and maximum rotation angle of ball joint. LCA stiffness is estimated by CAE and component test. Analysis and test results are almost same and the validity of considering three factors in LCA analysis is verified.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.3
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• pp.298-307
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• 2016

In the building process of FPSOs(floating production, storage and offloading units) is the increasing demand of high performance piping joints that can be installed on its turret system and maintain smooth and long-term flow of ultra-high pressure crude oil, being subjected to external excitations such as wind and wave on the sea. Following such a trend, in this paper, a new-type piping joint of four effective degrees of freedom has been designed, and its dynamic characteristics predicted through mathematical modeling and computer simulations. Moreover, via an example it was shown how the yaw motion in particular can be independently controlled for future durability test despite strong kinetic couplings.

• Transactions of Materials Processing
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• v.16 no.4 s.94
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• pp.266-270
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• 2007

Inertia welding is a solid-state welding process in which butt welds in materials are made in bar and in ring form at the joint face, and energy required for welding is obtained from a rotating flywheel. The stored energy is converted to frictional heat at the interface under axial load. The quality of the welded joint depends on many parameters, including axial force, initial revolution speed and energy, amount of upset, working time, and residual stresses in the joint. Inertia welding was conducted to make the large rotor shaft for low speed marine diesel engine, alloy steel for shaft of 140mm. Due to material characteristics, such as, thermal conductivity and high temperature flow stress, on the two sides of the weld interface, modeling is crucial in determining the optimal weld parameters. FE simulation is performed by the commercial code DEFORM-2D. A good agreement between the predicted and actual welded shape is observed. It is expected that modeling will significantly reduce the number of experimental trials needed to determine the weld parameters.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.791-795
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• 2014

In this paper, in order to impart the aging condition of the parts, by configuring the cycle of temperature from low temperature was performed by applying the aging conditions for vehicle cockpit module. The reason for the selected modules of the cockpit vehicle parts, because the joint occurrence typical components of the room component is a first module and ceiling cockpit module. After setting the excitation profile using the BSR exciter only that this is for the module degradation after the initial and grasp the change in the dynamic characteristics of the modules based on the before and after deterioration may be made in the module, grasp the noise generating position I measured the noise and proximity. Was also visualized on the position of the joint is generated using a sound camera to objective results occurring where the joint is selected through subjective evaluation.

• Journal of Welding and Joining
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• v.24 no.1
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• pp.88-92
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• 2006

Laser-rotating arc hybrid welding was introduced by combining $CO_2$ laser and rotating gas metal arc welding. While the arc rotation enhances the weld pool motion, it reduces the undercut formation which is one of most critical weld defects in the conventional laser-arc hybrid welding. This research investigated the bead characteristics according to the welding parameters such as frequency of rotation, welding voltage, shielding gas composition and interspacing distance between laser and we. The welding parameters were selected to reduce spatter generation and ensure sound weld beads fur bead welding and butt welding with various joint gaps. Gap bridging ability was improved, such that the sound weld beads were achieved for butt joint with up to 2mm joint sap, with no adjustment of CTWD(Contact tip-to-workpiece distance) and electrode diameter.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• Journal of the Korean housing association
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• v.20 no.6
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• pp.31-38
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• 2009

The purpose of this study is to investigate remodelling that meets the characteristics, intention and needs of antiquated apartment in Gwangju. For this study, firstly, we observed the current status and residents of old-aged apartments and attempted interview. Secondly, we used ethnographical interview of participating and observation methods based on cultural anthropology. The needed for this study was obtained by the questionnaires with 273 answer sheet. The data analyzing method was the statistic program SPSS. This study targeted more than 10-year-old seven apartment complexes which had above 10 stories. In respect of other needs of remodelling, it was very difficult to obtain uniform remodeling on which the whole residents agreed. As old-aged apartment could not be remodelled uniformly, remodeling types should be specified according to different complexes, buildings and units. Joint plans should be prepared for buildings or common space according to different steps of aging before joint remodelling and houses should be individually or jointly remodelled after joint plan is prepared. Current apartment remodelling is designed to increase economic values, but remodelling is more necessary for the residents with low-income. So, financial burden should be minimized and gradually remodelling apartment for improvement of residential environment is to be preferred.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.8
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• pp.703-710
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• 2004

This paper presents discontinuous zigzag gait analysis for a newly modeled quadruped walking robot with an articulated spine which connects the front and rear parts of the body. An articulated spine walking robot can move easily from side to side, which is an important feature to guarantee a larger gait stability margin than that of a conventional single rigid-body walking robot. First, we suggest a kinematic modeling of an articulated spine robot which has new parameters such as a waist-joint angle, a rotate angle of a front and rear body and describe characteristics of gait using an articulated spine. Next, we compared the difference of walking motion of newly modeled robot with that of a single rigid-body robot and analyzed the gait of an articulated spine robot using new parameters. On the basis of above result, we proposed a best walking motion with maximum stability margin. To show the effectiveness of proposed gait planning by simulation, firstly the fastest walking motion is identified based on the maximum stride, because the longer the stride, the faster the walking speed. Next, the gait stability margin variation of an articulated spine robot is compared according to the allowable waist-joint angle.