• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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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.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.5
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• pp.2603-2609
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• 2014

Reliability analysis of mechanical systems requires statistical modeling of input random variables such as distribution function types and statistical parameters that affect the performance of the mechanical systems. Some random variables are correlated, but considered as independent variables or wrong assumptions on input random variables have been used. In this paper, joint distributions were modeled using copulas and Bayesian method from limited number of data. To verify the proposed method, statistical simulation tests were carried out for various number of samples and correlation coefficients. As a result, the Bayesian method selected the most probable copula types among candidate copulas even though the candidate copula shapes are similar for low correlations or the number of data is limited. The most probable copulas also yielded similar reliabilities with the true reliability obtained from a true copula, so that it can be concluded that the Bayesian method provides accurate statistical modeling for the reliability analysis.

• Tunnel and Underground Space
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• v.12 no.1
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• pp.19-30
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• 2002

Rock joint orientation is one of important geometric attributes that have an influence on the stability of rock structures such as rock slopes and tunnels. Especially, statistical models of the geometric attributes of rock joints can provide a probabilistic approach of rock engineering problems. The result from probabilistic modeling relies on the choice of statistical model. Therefore, it is critical to define a representative statistical model for joint orientation data as well as joint size and intensity and build up a series of modeling procedure including analytical validation. In this paper, we have examined a theoretical methodology for the statistical estimate and hypothesis analysis based upon Fisher distribution and bivariate normal distribution. In addition, we have proposed the algorithms of random number generator which is applied to the simulation of rock joint networks and risk analysis.

• Proceedings of the KSME Conference
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• 2001.06a
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• pp.413-418
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• 2001

Fundamental failure mode in a laminated composite pinned-joint is proposed to assess damage resulting from stress concentration in the plate. The joint area is a region with stress concentrations thus a complicated stress state exists. The modeling of damage in a laminated composite pinned-joint presents many difficulties because of the complexity of the failure process. In order to model progressive from initial to final, finite element methods are used rather than closed form stress analyses. Failure analysis must be a logical combination of suitable failure criteria and appropriate material properties degradation rules. In this study, the material properties which were obtained in previous study, the preparing process of the bearing strength test for a pinned joint CFRP composite plate subjected to in-plane loading at low temperature, and the FEM result of progressive damage model using ANSYS program are summarized to assess the structural safety of CFRP plate used in the magnetic supporting post of KSTAR(Korea Superconducting Tokamak Advanced Research).

• Structural Engineering and Mechanics
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• v.57 no.1
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• pp.141-159
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• 2016

Bearing joint dynamic parameter identification is crucial in modeling the high speed spindles for machining centers used to predict the stability and natural frequencies of high speed spindles. In this paper, a hybrid method is proposed to identify the dynamic stiffness of bearing joint for the high speed spindles. The hybrid method refers to the analytical approach and experimental method. The support stiffness of spindle shaft can be obtained by adopting receptance coupling substructure analysis method, which consists of series connected bearing and joint stiffness. The bearing stiffness is calculated based on the Hertz contact theory. According to the proposed series stiffness equation, the stiffness of bearing joint can be separated from the composite stiffness. Then, one can obtain the bearing joint stiffness fitting formulas and its variation law under different preload. An experimental set-up with variable preload spindle is developed and the experiment is provided for the validation of presented bearing joint stiffness identification method. The results show that the bearing joint significantly cuts down the support stiffness of the spindles, which can seriously affects the dynamic characteristic of the high speed spindles.

• Computers and Concrete
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• v.32 no.4
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• pp.411-423
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• 2023

The rapid development of road transport has increased the number of bridges that require widening. A critical issue in the construction of bridge widening is the influence of vibrations of the old bridge on the casting of wet joint concrete between the old and new bridges owing to the running traffic. Typically, the bridge is closed to traffic during the pouring of wet joint concrete, which negatively affects the existing transportation network. In this study, a newly developed microscopic traffic load modeling approach and the vehicle-bridge interaction theory are incorporated to develop a refined numerical framework for the analysis of random traffic-bridge coupled dynamics. This framework was used to investigate traffic-induced vibrations at the wet joint of a widened bridge. Based on an experimental study on the vibration resistance of wet joint concrete, traffic control strategies were proposed to ensure the construction performance of cast-in-site wet joint concrete under random traffic without interruption. The results show that the vibration displacement and frequency of the old bridge, estimated by the proposed framework, were comparable with those obtained from field measurements. Based on the target peak particle velocity and vibration amplitude of the wet joint concrete, it was found that traffic control measures, such as limiting vehicle gross weight and limiting traffic volume by closing an additional traffic lane, could ensure the construction performance of the wet joint concrete.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.269-276
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• 2006

Increasing requirements for the high quality of industrial robot performance made the vibration control issue very important because the vibration makes it difficult to achieve quick response of robot motion and may bring mechanical damage to the robot. This paper presents the vibration mechanism of an industrial robot which has flexible joints. The joint flexibility of the robot is modeled as a two-mass system and its dynamic characteristics are analysed. And some characteristics of the two-mass system, especially for the joint of industrial robots, such as disturbance, non-linearity and time-varying characteristics are studied. And finally, some considerations on controller design for the flexible joint of industrial robots are discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.631-634
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• 2001

In this study, the graphic simulation system of multi joint manipulator is developed to analyze and optimize the remote handling processes for the spent fuel assembly. This system consists of a 3-D graphical modeling system, a device assembling system, and a motion simulation system. To analyze and optimize the processes involved in multi-joint manipulator operation such as NFBC transportation process and bottom nozzle removal process, the virtual work place is implemented using a computer graphic technology. This virtual workcell is exactly same as that of the real environment. This graphic simulation system of the multi-joint manipulator can be effectively used for designing the main processes and maintenance processes of the spent fuel management.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.9 s.180
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• pp.2334-2343
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• 2000

This paper proposes an efficient beam-shell modeling technique for the free vibration analysis of a T-joint thin-walled beam structure. Except a small portion of a T-joint which is modeled by shell elements, the structure is modeled by thin-walled beam elements that can describe warping and distortion. In order to match the shell and thin-walled beam elements at the interface of the dissimilar elements, a technique based on a pseudo inverse matrix is formulated. This paper also examines the role of the thin-walled element taking into account the distortion and warping deformation degrees of freedom in predicting accurately the dynamic characteristics of a T-joint thin-walled structure.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.12
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• pp.205-212
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• 2003

Many people are exposed to accidents by vehicles or sports. The most frequent injuries by these accidents is concerned with a knee joint. The three-dimensional surface model of a knee is needed for dynamic analysis of knee motion and knee reconstruction. three-dimensional motion data of a knee joint were obtained using X-ray and precise magnetic sensors. The surface data of a femur and a tibia were obtained using cross-sectional pictures by CT. The three-dimensional surface models of a femur and a tibia were made by the method of optimal triangular patch. Using obtained motion data, we simulated the motion of three-dimensional knee joint model.