• Geomechanics and Engineering
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• 제14권1호
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• pp.29-42
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• 2018

This paper presents the results of an empirical study in which square rock-like blocks containing two parallel pre-existing rough non-persistent joints were subjected to uniaxial compression load. The main purpose of this study was to investigate uniaxial compressive strength and deformation modulus of jointed specimens. Response Surface Method (RSM) was utilized to design experiments and investigate the effect of four joint parameters, namely joint roughness coefficient (JRC), bridge length (L), bridge angle (${\gamma}$), and joint inclination (${\theta}$). The interaction of these parameters on the uniaxial compressive strength (UCS) and deformation modulus of the blocks was investigated as well. The results indicated that an increase in joint roughness coefficient, bridge length and bridge angle increased compressive strength and deformation modulus. Moreover, increasing joint inclination decreased the two mechanical properties. The concept of 'interlocking cracks' which are mixed mode (shear-tensile cracks) was introduced. This type of cracks can happen in higher level of JRC. Initiation and propagation of this type of cracks reduces mechanical properties of sample before reaching its peak strength. The results of the Response Surface Methodology showed that the mutual interaction of the joint parameters had a significant influence on the compressive strength and deformation modulus.

• Journal of Mechanical Science and Technology
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• 제14권11호
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• pp.1225-1231
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• 2000

This paper proposes a V-shaped Lyapunov function approach for the model-based control of flexible-joint robots, in which a new model-based nonlinear control scheme is designed based on a V-shaped Lyapunov function. The proposed control guarantees global asymptotic stability for link trajectory control while keeping all internal signals bounded. Since joint flexibility is used as a control parameter, the proposed control is not restricted by the degree of joint flexibility and be applied to flexibility-joint, partly-flexibility, or rigid-joint robots without modification. the effectiveness of the proposed control has been by computer simulation.

• 로봇학회논문지
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• 제13권2호
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• pp.92-96
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• 2018

In this paper, a soft robotic arm which can prevent impact injury during human-robot interaction is introduced. Two degrees of freedom joint are required to realize free movement of the robotic arm. A robotic joint concept with a single degree of freedom is presented using simple inflatable elements, and then extended to form a robotic joint with two degrees of freedom joint using similar manufacturing methods. The robotic joint with a single degree of freedom has a joint angle of $0^{\circ}$ bending angle when both chamber are inflated at equal pressures and maximum bending angles of $28.4^{\circ}$ and $27.1^{\circ}$ when a single chamber if inflated. The robotic joint with two degrees of freedom also has a bending angle of $0^{\circ}$ in both direction when all three chambers are inflated at equal pressures. When either one or two chambers were pressurized, the robotic joint performed bending towards the uninflated chambers.

• 한국자동차공학회논문집
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• 제21권2호
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• pp.154-158
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• 2013

Expansion joint has been utilized in many areas including automotive bellows for exhaust system. Usage of expansion joint has been increased due to its inherent flexibility and excellent anti-vibration property. Simple shape of expansion joint is modeled to understand the behavior of joint system. 27 design cases using 3 design factors with 3 levels are constructed by design of experiment. Each case is simulated to find the most influential design factors. Response for this study, maximum stress in the expansion joint, has been used to determine main design factors of joint. Among the 3 design factors, factor B has affected greatly a response in the formation of optimum shape of joint. Also, interaction factor, $A{\times}B$, has also showed its influence to the response of joint. This study showed that design of experiment combined with finite element analysis could be used in the design decision process effectively in the design of expansion joint.

• Journal of Mechanical Science and Technology
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• 제14권11호
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• pp.1187-1197
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• 2000

• 대한기계학회논문집
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• 제19권1호
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• pp.271-276
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• 1995

This paper presents a systematic method for the dynamic analysis of flexible mechanical systems containing closed kinematic loops. Kinematics between pairs of contiguous flexible bodies is described with the joint coordinates and the deformation modal coordinates. The cut-joint constraint equations associated with the closed kinematic loops are derived, simply using the geometric conditions. The equations of motions are initially written in terms of the joint and modal coordinates using the velocity transformation technique. Lagrange multipliers associated with the cut-joint constraints for closed-loop systems are then eliminated systematically using the generalized coordinate partitioning method, resulting to a minimal set of equations of motion.

• Advances in aircraft and spacecraft science
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• 제5권3호
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• pp.401-410
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• 2018

The aim of this work is to optimize the geometrical parameters as the adhesive thickness and the beveled angle to reduce the edge effect of the scarf and V bounded joint. A finite element analysis is done to define the generated stresses in the bounded joint. The geometrical optimum is obtained using the Experimental Design Method. Results show that the double scarf (V) joint is better than the simple scarf bounded joint.

• Structural Engineering and Mechanics
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• 제66권1호
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• pp.1-14
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• 2018

Column is usually floating on the stone base directly with or without positioning tenon in traditional Chinese timber structure. Vertical load originated by the heavy upper structure would induce large friction force and compression force between interfaces of column foot and stone base. This study focused on the mechanical behaviors of column foot joint with consideration of the influence of vertical load. Mechanism of column rocking and stress state of column foot has been explored by theoretical analysis. A nonlinear finite element model of column foot joint has been built and verified using the full-scale test. The verified model is then used to investigate the mechanical behaviors of the joint subjected to cyclic loading with different static vertical loads. Column rocking mechanism and stress distributions of column foot were studied in detail, showing good agreement with the theoretical analysis. Mechanical behaviors of column foot joint and the effects of the vertical load on the seismic behavior of column foot were studied. Result showed that compression stress, restoring moment and stiffness increased with the increase of vertical load. An appropriate vertical load originated by the heavy upper structure would produce certain restoring moment and reset the rocking columns, ensuring the stability of the whole frame.

• 대한기계학회논문집
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• 제18권8호
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• pp.1974-1984
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• 1994

This paper presents a relative coordinate formulation for constrained mechanical systems. Relative coordinates are defined along degrees of freedom of a joint. Graph theoretic analyses are performed to identify topological paths in mechanical systems. Cut constraints are generated to handle closed loop systems. Equations of motion are derived in the Cartesian space and transformed to the joint space. Relative generalized coordinates are corrected to satisfy the cut constraints by a parametrizatiom method.

• 한국항공우주학회지
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• 제41권3호
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• pp.194-200
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• 2013

복합재료 적층판 기계적 체결부 표준시험(ASTM D5961) 결과에 대하여 이론적 강도 계산 및 유한요소 해석결과를 비교한다. 응력집중계수를 산출하기 위하여 ASM Handbook의 금속 및 복합재료에 대한 산출식을 이용하여 실험 결과값과 비교한다. 형상학적 인자들과 체결방식(단일/이중 겹칩)에 따른 체결강도의 차이도 비교한다. 유한요소 해석에 있어, 복합재료 적층판의 기계적 체결부의 효율적인 유한요소 모델을 찾기 위해 몇 가지 유한요소 모델들과 실험 결과들을 비교한다.