• International Journal of Control, Automation, and Systems
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• 제5권4호
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• pp.419-428
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• 2007

This paper describes the development of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle. In order to accurately push and pull an object with an intelligent robot's hand, and in order to safely walk with an intelligent robot's foot, the robot's wrist and ankle should measure three forces Fx, Fy, and Fz, and three moments Mx, My, and Mz simultaneously from the mounted six-axis force/moment sensor to the intelligent robot's wrist and ankle. Unfortunately, the developed six-axis force/moment sensor utilized in other industrial fields is not proper for an intelligent robot's wrist and ankle in the size and the rated output of the six-axis force/moment sensor. In this paper, the structure of a six-axis force/moment sensor with rectangular taper beams was newly modeled for an intelligent robot's wrist and ankle, and the sensing elements were designed by using the derived equations, following which the six-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements. Moreover, the characteristic test of the developed sensor was carried out by using the six-component force/moment sensor testing machine. The rated outputs from the derived equations agree well with those from the experiments. The interference error of the sensor is less than 2.87%.

• 한국지반환경공학회 논문집
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• 제7권3호
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• pp.55-68
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• 2006

본 논문은 CHBDC(2000)에서 적용중인 지간 8m까지 사용 가능한 지중강판 박스컬버트의 휨모멘트 설계식을 연구하였다. 3단계의 시공과정(최소 토피고까지의 뒷채움, 토피고까지의 뒷채움, 활하중 재하)을 고려하고 대골형 파형강판을 사용하여 지간 3m~12m에 해당하는 지중강판 박스컬버트의 수치해석을 수행하였다. 휨모멘트 계산식은 지간, 토피고 뒷채움 흙 같은 다양한 설계변수를 고려한 수치해석 결과를 토대로 새롭게 제안되었다. 또한, CHBDC(2000)의 휨모멘트식에서 새롭게 제안된 계산식의 타당성은 기존의 계산식과 수치해석결과와 비교하여 평가 되었다. 기존의 CHBDC(2000)의 식으로 구한 모멘트는 지간 8m이하에서 수치해석 결과와 잘 일치하지만, 지간 8m이상에서는 과소평가 되었다. 반면에, 제안된 식으로 산정한 모멘트는 지간 3~12m까지 수치해석 결과와 잘 일치하였다.

• 대한기계학회논문집
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• 제19권3호
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• pp.697-704
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• 1995

The dynamic characteristics of a system can be critically influenced by system uncertainty, so the dynamic system must be analyzed stochastically in consideration of system uncertainty. This study presents the stochastic model of a nonlinear dynamic system with uncertain parameters under nonstationary stochastic inputs. And this stochastic system is analyzed by a new stochastic process closure method and moment equation method. The first moment equation is numerically evaluated by Runge-Kutta method and the second moment equation is numerically evaluated by stochastic process closure method, 4th cumulant neglect closure method and Runge-Kutta method. But the first and the second moment equations are coupled each other, so this equations are approximately evaluated by a iterative method. Finally the accuracy of the present method is verified by Monte Carlo simulation.

• 한국자동차공학회논문집
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• 제8권1호
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• pp.157-162
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• 2000

The ball bearings are the widely-used machine elements in many machineries. They support not only the radial and the axial force but also the moment in many cases. To simply determine the limit load which can be maintained on an ball bearing or survived in wanted life, the combined the radial and axial force with the moment is converted to the equivalent radial or axial load. However, it is not easy to calculate the equivalent load on the ball bearings. So the simplified equations to evaluate the dynamic and static equivalent load considering the axial force and moment are proposed in this analysis. And the modified equation for the static equivalent radial load with the moment and the axial load is proposed. It is desired that these equations are effectively refered in designing the machineries where the ball bearings are installed.

• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1992년도 추계학술대회논문집
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• pp.46-53
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• 1992

Finger movements in the sagittal plane mainly consist of flexion and extension about the metacarpophalangeal(MCP) and proximal interphalangeal(PIP) joints. A kinematic finger model was developed with the assumption of constant tendon moment arms. Equations of static equilibrium were derived for the finger model using the principle of virtual work. Equations of static equilibrium for the finger model were indeterminate since only three equations were available for five unknown variables(forces). The number of variables was reduced based on information on muscular activities in finger movements. Then the amounts of forces which muscles exerted to maintain static equilibrium against external loads were computed from the equilibrium equations. The muscular forces were expressed mathematically as functions of finger positions, tendon moment arms, lengths of phalanges, and the magnitude and direction of external load. The external finger strength were computed using the equations of muscular forces and anatomical data. Experiments were performed to measure finger strengths. Measurements were taken in combinations of four finger positions and four directions of force exertions. Validation of the finger models and of procedure to estimate finger strengths was done by comparing the results of computations and experiments. Significang differences were found between the predicted and measured finger strengths. However, the trends of finger strengths with respect to finger positions were similar inboth the predicted and measured. These findings indicate that the finger model and the procedure to predict finger strengths were correctly developed.

• Structural Engineering and Mechanics
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• 제23권6호
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• pp.599-613
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• 2006

A method for the dynamical analysis of FE discretized uncertain linear and nonlinear structures is presented. This method is based on the moment equation approach, for which the differential equations governing the response first and second-order statistical moments must be solved. It is shown that they require the cross-moments between the response and the random variables characterizing the structural uncertainties, whose governing equations determine an infinite hierarchy. As a consequence, a closure scheme must be applied even if the structure is linear. In this sense the proposed approach is approximated even for the linear system. For nonlinear systems the closure schemes are also necessary in order to treat the nonlinearities. The complete set of equations obtained by this procedure is shown to be linear if the structure is linear. The application of this procedure to some simple examples has shown its high level of accuracy, if compared with other classical approaches, such as the perturbation method, even for low levels of closures.

• 한국전산유체공학회지
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• 제10권3호
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• pp.1-8
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• 2005

In this study, unsteady aerodynamic analyses of a wedge-type airfoil based on nonlinear piston theory and Euler equations have been performed in supersonic and hypersonic flows. The third-order nonlinear piston theory (NPT) to calculate unsteady lift and moment coefficients is derived and applied in the time-domain. Also, unsteady flow quantities are obtained from the two-dimensional time-dependent Euler equations. For the CFD based unsteady aerodynamic analyses, an arbitrary Lagrangean-Eulerian (ALE) formulation for the Euler equations is used to calculate flow fluxes in the computational flow field with moving boundaries. Numerical comparisons for unsteady lift and moment coefficients are presented between NPT and Euler approaches. The results show very good agreements in the high supersonic and hypersonic flows. It means that the present NPT can be efficiently used to predict unsteady aerodynamic forces ol wedge type airfoils with dynamic motions in the high supersonic and hypersonic flow regimes.

• 한국연소학회:학술대회논문집
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• 한국연소학회 2002년도 제24회 KOSCO SYMPOSIUM 논문집
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• pp.41-45
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• 2002

The zone-conditioned CMC equations are derived by taking an unconditional average of the generic conservation equations multiplied by delta and Heaviside functions in terms of mixture fraction and reaction progress variable. The resulting equations are essentially in the same form as the single zone CMC equations except for separate flow fields for burned and unburned gas. The zone-conditioned two-fluid equations are applied to a stagnating turbulent premixed flame brush of Cheng and Shepherd[5l. It is shown that the flame stretch factor is of crucial importance to accurately reproduce the measured mean reaction progress variable and conditional velocities. Further work is in progress for the relationship between surface and volume averages and extension to partially premixed combustion on the basis of a triple flame structure, e. g. in a lifted turbulent diffusion flame.

• 한국정밀공학회지
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• 제24권1호
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• pp.27-36
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• 2007

This paper describes the development of 6-axis ankle force/moment sensor for the intelligent feet of a humanoid robot. When the robot walks on uneven terrain, the feet should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz from the attached 6-axis force/moment sensor on their ankles. Papers have already been published have some disadvantages in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis ankle force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to get the similar rated output under each rated load. Also, the size of the sensor is very important for mounting to robot's feet. Therefore, the diameter should be below 100 mm and the height should be below 40mm. In this paper, first, the structure of a 6-axis ankle force/moment sensor was modeled for a humanoid robot's feet newly, Second, the equations to predict the strains on the sensing elements was derived, third, the size of the sensing elements was designed by using the equations, then, the sensor was fabricated by attaching straingages on the sensing elements, finally, the characteristic test of the developed sensor was carried out. The rated outputs from the derived equations agree well with the results from the experiments. The interference error of the sensor is less than 2.94%.

• 콘크리트학회논문집
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• 제23권1호
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• pp.57-65
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• 2011

전단과 비틀림모멘트가 동시에 작용하는 경우에 단면에는 각각의 영향으로 인하여 전단응력이 발생하므로 이 두 응력을 더하여 설계할 수 있다. 그러나 현행 콘크리트구조설계기준에서는 전단과 비틀림모멘트 설계식을 단위가 서로 틀린 단면력으로 표현하여 분포도를 그리기 위해서는 각각의 좌표에 분리해서 그려야만 한다. 만약에 이 두 하중으로 인한 단면력을 응력으로 표현하게 되면 두 전단응력을 더하여 하나의 좌표에 표현할 수 있고, 설계 결과도 동시에 그려 넣을 수 있으므로 쉽게 설계과정을 인식하여 실수를 최소화 할 수 있을 것이다. 게다가 현행 기준에서는 전단과 비틀림모멘트에 대한 설계식을 단위 길이 당 스터럽의 단면적으로 표현되는 $A_{\upsilon}/s$나 $2A_{\upsilon}/s$로 제시하여, 설계과정에서 이 값들의 크기나 상황을 정확하게 인식하기 거의 불가능하게 된다. 설계에서 먼저 스터럽의 종류를 결정하여 단면적 $A_{\upsilon}$나 $A_t$가 결정되므로 설계식들을 스터럽의 간격에 대한 식으로 정리하면 설계과정을 명확하게 인식할 수 있고 또한 여러 설계과정도 간단하게 정리되어 이해하기 쉽도록 할 것이다.