• 대한기계학회논문집A
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• 제21권11호
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• pp.1921-1930
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• 1997

This paper presents the effective technique to design a six-axis load cell by using experimental design with an orthogonal array. A binocular structure is used as a basic sensing element for a load cell instead of the parallel plate structure. The finite element method is adopted to obtain strain distributions of the sensing element, and by doing the analysis of variances, its results are utilized in determining the factor which is more influential to the output strain. Calibration test results show that the developed six-axis loa cell with the maximum capacities of 196 N in forces and 19.6 N. m in moments is evaluated to be useful with the coupling error less than 2.5%.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.524-529
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• 2016

We describe the design and fabrication of a two-axis force/torque sensor with parallel-plate beams (PPBs) and single beams for measuring force and torque in hip-joint rehabilitation exercise using a lower rehabilitation robot. The two-axis force/torque sensor is composed of an Fz force sensor and a Tz torque sensor, which detect z direction force and z direction torque, respectively. The two-axis force/torque sensor was designed using the FEM (Finite Element Method) and manufactured using strain gages. The characteristics experiment of the two-axis force/torque sensor was carried out. The test results show that the interference error of the two-axis force/torque sensor was less than 0.64% and the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03%. It is thought that the developed two-axis force/torque sensor could be used for a lower rehabilitation robot.

• 센서학회지
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• 제25권2호
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• pp.148-154
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• 2016

This paper describes the design and fabrication of a two-axis force/torque sensor and an one-axis force sensor with parallel plate beams(PPSs) for measuring forces and torque in an ankle rehabilitation exercise using by a lower rehabilitation robot. The two-axis force/torque sensor is composed of a Fy force sensor and Tz torque sensor and the force sensor detects x direction force. The two-axis force/torque sensor and one-axis force sensor were designed using by FEM(Finite Element Method), and manufactured using strain-gages. The characteristics experiment of the two-axis force/torque sensor and one-axis force sensor were carried out respectively. As a test results, the interference error of the two-axis force/torque sensor was less than 1.56%, the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03% respectively, and the repeatability error and the non-linearity of the one-axis force sensor were less than 0.03% and 0.02% respectively.

• 센서학회지
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• 제16권3호
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• pp.211-219
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• 2007

This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

• 센서학회지
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• 제15권6호
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• pp.411-416
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• 2006

This paper describes the development of a 3-axis finger force sensor to grasp an unknown object safely in an intelligent robot's hand. In order to safely grasp an unknown object, robot's hand should measure the weight of an object and the force of grasping direction simultaneous. But, in the published papers, the grippers and hands equippd with the force sensor that could only measure the force of grasping direction, and grasped objects using their sensors. These grippers and hands can't safely grasp unknown objects, because they can't measure the weight of it. Thus, it is necessary to develop 3-axis force sensor that can measure the weight of an object and the force of grasping direction for an intelligent gripper. In this paper, 3-axis finger force sensor to grasp an unknown object safely in an intelligent robot's hand was developed. In order to fabricate a 3-axis finger force sensor, the sensing elements were modeled using parallel plate beams, and the theoretical analysis was performed to determine the size of sensing elements, then the 3-axis finger force sensor was fabricated. Also, the characteristic test of the developed 3-axis finger force sensor was performed.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 C
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• pp.1614-1616
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• 2000

The purpose of this study is to manufacture and test a thermoelectric generator which converts unused energy from close-at-hand sources, such as garbage incineration heat and industrial exhaust, to electricity. A manufacturing process and the properties of a thermoelectric generator are discussed before simulating the thermal stress and thermal properties of a thermoelectric module located between an aluminum tube and alumina plate. We can design the thermoelectric modules having the good properties of thermoelectric generation. Resistivity of thermoelectric module for thermoelectric generation consisting of 62 cells was $0.15{\sim}0.4{\Omega}$. The maximum power of thermoelectric generator using thermoelectric generating modules can be defined as temperature function, and in this case it can be analogized the linear relation between current and voltage characteristics as function of temperature. The thermoelectric generator using 128 generating modules was assembled with 4 parallel connected modules sets composed with 32 directly connected modules.

• Steel and Composite Structures
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• 제11권1호
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• pp.39-58
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• 2011

The subject of the ongoing research work is to analyze the composite action of the structural elements of composite slabs with profiled steel decking by experimental and numerical studies. The mechanical and frictional interlocks result in a complex behaviour and failure under horizontal shear action. This is why the design characteristics can be determined only by standardized experiments. The aim of the current research is to develop a computational method which can predict the behaviour of embossed mechanical bond under shear actions, in order to derive the design characteristics of composite slabs with profiled steel decking. In the first phase of the research a novel experimental analysis is completed on an individual concrete encased embossment of steel strip under shear action. The experimental behaviour modes and failure mechanisms are determined. In parallel with the tests a finite element model is developed to follow the ultimate behaviour of this type of embossment, assuming that the phenomenon is governed by the failure of the steel part. The model is verified and applied to analyse the effect of embossment's parameters on the behaviour. In the extended investigation different friction coefficients, plate thicknesses, heights and the size effects are studied. On the basis of the results the tendencies of the ultimate behaviour and resistance by the studied embossment's characteristics are concluded.

• Journal of Mechanical Science and Technology
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• 제20권10호
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• pp.1741-1752
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• 2006

A combined Streamline Upwind Petrov-Galerkin method (SUPG) and segregated finite element algorithm for solving conjugate heat transfer problems where heat conduction in a solid is coupled with heat convection in viscous fluid flow is presented. The Streamline Upwind Petrov-Galerkin method is used for the analysis of viscous thermal flow in the fluid region, while the analysis of heat conduction in solid region is performed by the Galerkin method. The method uses the three-node triangular element with equal-order interpolation functions for all the variables of the velocity components, the pressure and the temperature. The main advantage of the presented method is to consistently couple heat transfer along the fluid-solid interface. Four test cases, which are the conjugate Couette flow problem in parallel plate channel, the counter-flow in heat exchanger, the conjugate natural convection in a square cavity with a conducting wall, and the conjugate natural convection and conduction from heated cylinder in square cavity, are selected to evaluate efficiency of the presented method.

• Structural Engineering and Mechanics
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• 제81권4호
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• pp.493-502
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• 2022

Shear lag phenomenon has long been considered in numerous structural codes; however, the AISC provisions have now no longer proposed any unique equation to calculate the shear lag ratio in bolted connections for angles in general. It is noticeable that, however, codes used in this case are largely conservative and need to be amended. A parametric study consisting of 27 angle sections with equal legs and different with bolted connections was performed to investigate the effects of shear lag on the ultimate tensile capacity of angle members. The main parameters were: steel grade, connection length and eccentricity from the center of the plate, as well as the number of rows of bolts parallel to the applied force. The test results were compared with the predictions of the classical 1-x/l law proposed by Mons and Chesen to investigate its application to quantify the effect of shear lag. A parametric study was performed using valid FE models that cover a wide range of parameters. Finally, based on the numerical results, design considerations were proposed to quantify the effect of shear lag on the ultimate tensile capacity of the tensile members.

• 터널과지하공간
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• 제9권4호
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• pp.328-336
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• 1999

본 연구에서는 암석절리에 대한 수리-역학적 거동이 동시에 가능한 실내시험장치로서 회전식 전단시험기를 제작 하였다. 회전식 전단시험기는 시료의 양 끝에 비틀림 모멘트를 가함으로써 전단응력을 발생시키도록 하였다. 실험결과 회전식전단시험에 의한 절리의 최대전단강도는 직접전단시험에 의한 값보다 과소평가되었다. 이는 비틀림에 의한 전단응력이 회전축의 반경에 따라 변하며 특히 회전축 중심부에서는 전단응력이 거의 작용하지 않기 때문인 것으로 판단된다. 절리에서의 유체유동은 절리 거칠기, 접촉 면적, 초기간극 등에 의해 주로 영향을 받는 것으로 알려져 있다. 이에 본 연구에서는 초기간극의 측정을 통하여 전단-유동에 대한 수리 간극과 역학적 간극사이의 관계를 알아보았다. 초기간극의 측정과 전단-유동 상호작용시험의 결과에 근거하여, 역학적 모델과 삼승법칙으로부터 계산된 역학적 간극과 수리 간극은 체적 팽창이 발생함에 따라 증가하며 이들 사이에는 좋은 선형관계가 있음을 보였다. 그러나 수리 간극과 역학적 간극사이에는 다소 차이가 발생하였는데 이는 평행 평판모델에 의해 예측된 거동으로부터 수리 간극이 벗어남을 나타낸다.