• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2290-2295
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• 2005

In this paper, it is developed simulator system of 3 D.O.F parallel robot for educate of expertness. This simulator system is composed of three parts ? 3 D.O.F parallel robot, controller (hardware) and software. First, basic structure of the robot is 3 active rotary actuator that small geared step motor with fixed base. An input-link is connected to this actuator, and this input-link can connect two ball joints. Thus, two couplers can be connected to the input-link as a pair. An end-plate, which is jointed by a ball joint, can be connected to the opposite side of the coupler. A sub-link is produced and installed to the internal spring, and then this sub-link is connected to the upper and bottom side of the coupler in order to prevent a certain bending or deformation of the two couplers. The robot has the maximum diameter of 230 mm, 10 kg of weight (include the table), and maximum height of 300 mm. Hardware for control of the robot is composed of computer, micro controller, pulse generator, and motor driver. The PC used in the controller sends commands to the controller, and transform signals input by the user to the coordinate value of the robot by substituting it into equations of kinematics and inverse kinematics. A controller transfer the coordinate value calculated in the PC to a pulse generator by transforming it into signals. A pulse generator analyzes commands, which include the information received from the micro controller. A motor driver transfer the pulse received from the pulse generator to a step motor, and protects against the over-load of the motor Finally, software is a learning purposed control program, which presents the principle of a robot operation and actual implementation. The benefit of this program is that easy for a novice to use. Developed robot simulator system can be practically applied to understand the principle of parallel mechanism, motors, sensor, and various other parts.

• 생물환경조절학회지
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• 제5권1호
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• pp.57-64
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• 1996

To use effectively the solar energy in greenhouse heating, a high performance solar collector should be developed. And then the size of the solar collector and thermal storage tank should be determined through the calculation of heating load. The solar collector must be set in the optimum tilt angle and direction to take daily solar radiation maximally, and the flow rate of heat transfer fluid through the solar collector should be kept in the optimum range. In this research, the performance tests of a capillary tube solar collector were performed to determine the optimum water flow rate and the results summarized as follows. 1. The regressive equations for efficiency estimations of the capillary tube solar collector in the open loop were modeled in the water flow rate of 700-l,000 $\ell$/hr. 2. The optimum water flow rate of the solar collector was estimated by the second order polynomial regression and the maximum efficiency was 80% at the water flow rate of 850 $\ell$/hr. 3. The solar thermal storage system consisted of a capillary tube solar collector and a water storage tank was tested at the water flow rate of 850 $\ell$/hr in the closed loop, and obtained the solar thermal storage efficiency of 55.2%. 4. As the capillary tube solar collector engaged in this experiment was made of non-corrosive polyolefin tubes, its weight was as light as 1/30 of the flat plate solar collector made of copper tubes. Therefore it was considered to be suitable for the greenhouse heating system.

• 대한기계학회논문집B
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• 제21권9호
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• pp.1149-1164
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• 1997

In this study, the applicability of the RNG k-.epsilon. model to the analysis of the complex flows is studied. The governing equations based on a non-orthogonal coordinate formulation with Cartesian velocity components are used and discretized by the finite volume method with non-staggered variable arrangements. The predicted results using the RNG k-.epsilon. model of three complex flows, i.e., the flow over a backward-facing step and a blunt flat plate, the flow around a 2D model car are compared to these from the standard k-.epsilon. model and experimental data. That of the unsteady axisymmetric turbulent flow within a cylinder of reciprocating model engine including port/valve assembly and the spray characteristics within a chamber of direct injection model engine are compared to these from the standard k-.epsilon. model and experimental data. The results of reattachment length, separated eddy size, average surface pressure distribution using the RNG k-.epsilon. model show more reasonable trends comparing with the experimental data than those using the modified k-.epsilon. model. Although the predicted rms velocity using the modified k-.epsilon. model is lower considerably than the experimental data in incylinder flow with poppet valve, predicted axial and radial velocity distributions at the valve exit and in-cylinder region show good agreements with the experimental data. The spray tip penetration predicted using the RNG k-.epsilon. model is more close to the experimental data than that using the modified k-.epsilon. model. The application of the RNG k-.epsilon. model seems to have some potential for the simulations of the unsteady turbulent flow within a port/valve-cylinder assembly and the spray characteristics over the modified k-.epsilon. model.

• 대한기계학회논문집B
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• 제21권9호
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• pp.1165-1173
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• 1997

The steady state close-contact melting phenomenon occurring between a phase change material and an isothermally heated flat plate with relative motion is investigated analytically, in which the effects of vertical convection in the liquid film and solid-liquid density difference are incorporated simultaneously. Not only the scale analysis is conducted to estimate a priori qualitative dependence of system variables on characteristic parameters, but also an analytical solution to a set of simplified model equations is obtained to specify the effects under consideration. These two results are consistent with each other, in that the vertical convection affects both the solid descending velocity and the film thickness, and that the density difference alters only the solid descending velocity. While the effect of vertical convection can be characterized conveniently by a newly introduced temperature gradient factor which asymptotically approaches the unity/zero with decreasing/increasing the Stefan number, that of density difference is represented by the liquid-to-solid density ratio. It is shown that the solid descending velocity depends linearly on the density ratio, and that the ratios of solid descending velocity, film thickness and friction coefficient to the conduction solution are proportional to 3/4, 1/4 and -1/4 powers of the temperature gradient factor, respectively. Also, established is the fact that the effect of convection can be legitimately neglected in the analysis for the range of the Stefan number less than 0.1.

• 대한기계학회논문집A
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• 제20권11호
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• pp.3516-3524
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• 1996

Service conditions for structures at elevated temperatures in nuclear power plant involve transient thermal and mechanical load levels that are severe enough to caeuse inelastic deformations due to creep and plasticity. Therefore, a systematic mehtod of inelastic analysis is needed for the design of structural components in nuclear poser plants subjected to such loading conditions. In the present investigation, the Chabodhe model, one of the unified viscoplastic constitutive equations, was selected for systematic inelastic analysis. The material response was integrated based on GMR ( generallized mid-point rule) time integral scheme and provided to ABAQUS as a material subroutine, UMAT program. By comparing results obtaned from uniaxial analysis using the developed UMAT program with those from Runge-Kutta solutions and experimentaiton, the validity of the adopted Chaboche model and the numerical stability and accuracy of the developed UMAT program were verified. In addition, the developed material subroutine was applied for uniaxial creep and tension analyses for the plate with a hole in the center. The application further demonstrates usefulness of the developed program.

• Structural Engineering and Mechanics
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• 제65권4호
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• pp.491-504
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• 2018

Because of sandwich structures with low weight and high stiffness have much usage in various industries such as civil and aerospace engineering, in this article, buckling and free vibration analyses of coupled micro composite sandwich plates are investigated based on sinusoidal shear deformation (SSDT) and most general strain gradient theories (MGSGT). It is assumed that the sandwich structure rested on an orthotropic elastic foundation and make of four composite face sheets with temperature-dependent material properties that they reinforced by carbon and boron nitride nanotubes and two flexible transversely orthotropic cores. Mathematical formulation is presented using Hamilton's principle and governing equations of motions are derived based on energy approach and applying variation method for simply supported edges under electro-magneto-thermo-mechanical, axial buckling and pre-stresses loadings. In order to predict the effects of various parameters such as material length scale parameter, length to width ratio, length to thickness ratio, thickness of face sheets to core thickness ratio, nanotubes volume fraction, pre-stress load and orthotropic elastic medium on the natural frequencies and critical buckling load of double-bonded micro composite sandwich plates. It is found that orthotropic elastic medium has a special role on the system stability and increasing Winkler and Pasternak constants lead to enhance the natural frequency and critical buckling load of micro plates, while decrease natural frequency and critical buckling load with increasing temperature changes. Also, it is showed that pre-stresses due to help the axial buckling load causes that delay the buckling phenomenon. Moreover, it is concluded that the sandwich structures with orthotropic cores have high stiffness, but because they are not economical, thus it is necessary the sandwich plates reinforce by carbon or boron nitride nanotubes specially, because these nanotubes have important thermal and mechanical properties in comparison of the other reinforcement.

• Structural Engineering and Mechanics
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• 제64권3호
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• pp.361-379
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• 2017

In this article, the vibration behavior of double-bonded sandwich microplates with homogeneous core and nanocomposite facesheets reinforced by carbon nanotube and boron nitride nanotube under multi physical fields such as 2D magnetic and electric fields is investigated. Symmetric and un-symmetric distributions of nanotubes are considered for facesheets of sandwich microplates such as uniform distribution and various functionally graded distributions. The double-bonded sandwich microplates rest on visco-Pasternak foundation. Material properties of sandwich microplates are obtained by the extended rule of mixture. The sinusoidal shear deformation theory (SSDT) is employed to describe displacement fields of sandwich microplates. Also, the dimensionless natural frequency is obtained by classical plate theory (CPT) and compared with the obtained results by SSDT. It can be seen that the obtained dimensionless natural frequencies by CPT are higher than SSDT. In order to study the material length scale parameters, modified strain gradient theory at micro scale is utilized and then, the equations of motion are derived using Hamilton's principle. The effects of different parameters such as foundation parameters including Winkler, shear layer and damping coefficients, various distributions and volume fraction of nanotubes, core to facesheet thickness ratio, aspect and side ratios on the dimensionless natural frequencies are discussed in details. The results of present work can be used to optimum design and control of similar systems such as micro-electro-mechanical and nano-electro-mechanical devices.

• 한국응용과학기술학회지
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• 제25권4호
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• pp.459-468
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• 2008

Methyl methacrylate(MMA) was grafted onto microcrystalline cellulose(MCC) with ceric ammonium nitrate(CAN) as a redox initiator at the various conditions. The cellulose triacetate(CTA) composite films added MCC and MMA-grafted MCC powders were prepared on a glass plate. The graft yield(GY) and graft efficiency(GE) of the grafted MCC were calculated with the simple equations by the weight balance method. The double bond of C=O on the grafted MCC surfaces was confirmed by the fourier transform infrared spectroscopy with attenuated total reflection(FT-IT ATR) spectrophotometer. After grafting, the degree of crystallinity of cellulose powders was decresed by judging from x-ray diffraction(XRD) data. Scanning electron microscope(SEM) photos showed the only solvent and CAN solution could change the roughness of MCC powders and the effect of powder dispersions in composite matrix. The tensile strength of MCC/CTA composite films was decreased with increase of MCC powder contents. When 5% grafted MCC was added, the tensile strength of grafted MCC/CTA composite films was increased from 82.3 MPa to 97.2 MPa. The thermal property of powders was also analyzed by the thermogravimetric analysis(TGA).

• 한국산학기술학회논문지
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• 제14권11호
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• pp.5930-5938
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• 2013

Erigen의 비국소 탄성이론을 이용한 S형상 점진기능재료 나노-스케일 판의 전단변형이론을 정식화하여 평형방성식을 유도하였다. 비국소 탄성이론은 미소 규모 효과를 고려할 수 있고 S형상함수는 점진기능재료의 정확한 특성 변화를 고려할 수 있다. 4변이 단순지지된 나노-스케일 판의 지배방정식을 풀기 위해 Navier 방법을 사용하였다. 거듭 제곱 지수와 비국소 변수의 효과를 나타내기 위한 나노-스케일 판의 해석적 좌굴하중을 제시하였고, 국소 탄성이론과의 관계를 수치해석 결과를 통하여 고찰하였다. 또한 (i) 거듭제곱 지수, (ii) 나노-스케일 판의 크기, (iii) 비국소 계수, (iv) 형상비 그리고 (v) 모드 수 등이 나노-스케일 판의 이축 무차원 좌굴하중에 미치는 효과에 대하여 관찰하였다. 본 연구의 결과를 검증하기 위해 참고문헌의 결과들과 비교 분석하였다.

• 대한토목학회논문집
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• 제5권3호
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• pp.107-115
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• 1985

초기(初期)처짐을 가지는 평판(平板)이 일보면내압축하중(一輔面內壓縮荷重)을 받을 때의 거동을 살피기 위하여 새로운 변위함수(變位凾數)를 도입(導入)한 유한대판법(有限帶板法)을 정식화(正式化)하고, 이 이론(理論)에 따라 컴퓨터 프로그램을 편성(編成)하여 여러 경우에 대한 평판(平板)의 거동을 계산(計算)하고 이미 발표된 결과(結果)와 비교해 보았는데 그 요점은 다음과 같다. 1. Curvature effect를 고려하여 면외변위(面外變位)함수로부터 유도한 식을 참고로 하여 새로운 면내변위(面內變位) 함수를 가정하고 이것을 대판요소(帶板要素)의 변위(變位)함수로 사용한 유한대판법(有限帶板法)을 안식화(定式化)하였다. 2. 위에서 안식화(定式化)한 유한대판법(有限帶板法)에 따라 편성(編成)한 프로그램을 써서 수치해석한 결과 변위증분방식(變位增分方式)이 하중증분방식(荷重增分方式)보다 수렴이 빨랐다. 3. 일축압축(一軸壓縮)을 받는 평판(平板)을 여려 경우에 대해 위의방법으로 해석한 결과는 해석적(解析的) 방법(方法)이나 Crisfield(D)에 의(依)한 유한요소법(有限要素法)으로 얻어진 결과와 잘일치 하였다. 따라서 위의 방법은 평판의 비선형해석을 위한 하나의 유용한 방법으로 생각된다.