• 대한기계학회논문집A
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• 제29권5호
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• pp.671-679
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• 2005

A method of generation boundary layer mesh has been presented. This paper describes the generation of semi-unstructured prismatic/tetrahedral meshes for three-dimensional geometries with thin thickness. By of fretting of surface triangle elements prismatic/tetrahedral meshes are generated and using the node relocation method of this research intersected meshes can be efficiently improved. Finally tetrahedral meshes are automatically generated at the rest of the domain. Sample meshes are constructed to demonstrate the mesh generating capability of the proposed algorithm.

• 오토저널
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• 제7권3호
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• pp.42-55
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• 1985

The study is concerned with the investigation of curved line folding of developable surface from flat sheets of metal. General geometric relations among folding line, folded surface, folded angle are derived. From the derived geometric relations, the required plastic work and punch force are derived for the first approximation. Five methods of forming are suggested and the experiment is carried out using two chosen methods for the prismatic developable surfaces of which cross-sections have 103.deg.arc, 180.deg.arc, sinusoidal shape. In the die design for the tolding of prismatic developable surfaces, a stack of sheets were used to form shapes of the dies by which acceptable folded surfaces were obtained. The computed plastic work and punch force turned out to be in reasonable agreement with the experimental result.

• Computers and Concrete
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• 제6권6호
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• pp.505-521
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• 2009

The analysis of prismatic members made of reinforced concrete under inclined bending, especially the computation of ultimate loads, is a pronounced non-linear problem which is frequently solved by discretizing the stress distribution in the cross-section using interpolation functions. In the approach described in the present contribution the exact analytical stress distribution is used instead. The obtained expressions are integrated by means of a symbolic manipulation package and automatically converted to optimized Fortran code. The direct problem-computation of ultimate internal forces given the position of the neutral axis-is first described. Subsequently, two kinds of inverse problem are treated: the computation of rupture envelops and the dimensioning of reinforcement, given design internal forces. An iterative Newton-Raphson procedure is used. Examples are presented.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1999년도 봄 학술발표회 논문집
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• pp.252-259
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• 1999

One of the most important factors for a proper design of a slender compression member may be the exact determination of the elastic critical load of that member. In the cases of non-prismatic compression member, however, there are times when the exact critical load becomes impossible to determinate if one relies on the neutral equilibrium method or energy principle. Here in this paper, the approximate critical loads of symmetrically or non-symmetrically tapered members are computed by finite element method. The two parameters considered in this numerical analysis are the taper parameter, $\alpha$ and the sectional property parameters, m. The computed results for each sectional property parameter, m are presented in an algebraic equation which agrees with those by F.E.M The algebraic equation can be easily used by structural engineers, who are engaged in structural analysis and design of non-prismatic compression member.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 D
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• pp.2438-2440
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• 2004

This study is concerned with development of 3-Dimensional simulator of a biped robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a biped robot which have a prismatic balancing weight is conditional linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. To get a stable gait of a biped robot, stabilization equations with ZMP (Zero Moment Point) are modeled as non-homogeneous second order differential equations for each balancing weight type. A trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3-Dimensional graphic simulator is programmed to get and calculate the desired ZMP and the actual ZMP. Walking of 4 steps was simulated and verified. This balancing system will be applied to a biped humanoid robot, which consist Begs and upper body, at future work.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 춘계학술대회 논문집
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• pp.426-431
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• 1997

Features are well recognized to play an important role for the integration of ACD and CAPP. Majority of pervious works for the feature recognition for prismatic part is based on 3D solid model. But in real factories, 2D drawing are used more than 3D drawings. In this paper, we develope an algorithm of the feature recognition on prismatic parts in 2D drawings, using by the graph method and the heuristic algorithm. Previous algorithms have some conflicts at feature interaction. In this paper, elements are grouped into connection by the graph method. Then features are recognized by using these grouped elements and their relationships of front and side-view. For resolving the problem of feature interaction, the element graphs are modified by an deloped algorithm. This algorithm is applied to a CAPP system for milling process planning.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.613-617
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• 1992

The tracking control problem of a flexible manipulator with a prismatic joint along a given path is discussed. The nondimensionalization of the elastic part of the manipulator makes it possible to model such a flexible manipulator. For a discontinuous velocity trajectory, an optimal control theory has been applied to formulate the problem. The optimal scheme is given to find the input commands(e.g., joint torques) necessary to produce a, specified end effector motion. Simulated results show the potential use of this scheme for a discontinuous velocity trajectory control.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 춘계학술대회 논문집
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• pp.363-368
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• 1995

A general method of solving inverse kinematics of three-joint manipulator composed of revolute joints or prismatic joints or combinations of those joints is presented in this study. In completing real-time control, it is very important to obtain the closed form solutions of inverse kinematics rather than iterative numerical solutions, because iterative numerical solutions are generally much slower than the corresponding closed form solutions. If it is possible to obtain the inverse kinematic solutions for general cases of considering twist anlges and offsets, the manipulator work space can be designed and enlarged more effciently for specific task. Moreover, in idustrial manipulators, the effect of main three joints is larger than that of the other three joints related to orientation in the view of work space. Therfore the solutions of manin three-joint are considered. Even The inverse kinematic equations are complicatedly coupled, the systematical solving process by using symbolic calculation is presented.

• Wind and Structures
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• 제9권5호
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• pp.357-367
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• 2006

Unsteady 3D Reynolds Averaged Navier-Stokes (URANS) solver is used to simulate the turbulent flow past an isolated prismatic cylinder at Re=37,400. The aspect ratio of height to base width of the body is 5. The turbulence closure is achieved through a non-linear $k-{\varepsilon}$ model. The applicability of this model to predict unsteady forces associated with this flow is examined. The study shows that the present URANS solver with standard wall functions predicts all the major unsteady phenomena showing closer agreement with experiment. This investigation concludes that URANS simulations with the non-linear $k-{\varepsilon}$ model as a turbulence closure provides a promising alternative to LES with view to study flows having complex features.

• 한국생산제조학회지
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• 제20권3호
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• pp.322-328
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• 2011

This paper presents inverse kinematics and workspace analysis of a planar three degree-of-freedom (DOF) parallel manipulator. Furthermore, optimization problem of the manipulator is presented. The manipulator adopts PRR (Prismatic-Revolute-Revolute) mechanism and the prismatic actuators are fixed to the base. This leads to a reduction of the inertia of the moving links and hence enables it to move with high speed. The actuators are linear electric motors. First, the mechanism based on the geometry of the manipulator is introduced. Second, a workspace analysis is performed. Finally, design optimization is carried out to have large workspace. The proposed approach can be applied to the design optimization of various three DOF parallel manipulators in order to maximize their workspace. The performance of mechanism is improved and satisfies the requirements of workspace to align micro-components.