• International Journal of Precision Engineering and Manufacturing
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• 제5권4호
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• pp.50-60
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• 2004

A very flexible beam can be used to model various types of continuous mechanical parts such as cables and wires. In this paper, the dynamic properties of a very flexible beam, included in a multibody system, are analyzed using absolute nodal coordinates formulation, which is based on finite element procedures, and the general continuum mechanics theory to represent the elastic forces. In order to consider the dynamic interaction between a continuous large deformable beam and a rigid multibody system, a combined system equations of motion is derived by adopting absolute nodal coordinates and rigid body coordinates. Using the derived system equation, a computation method for the dynamic stress during flexible multibody simulation is presented based on Euler-Bernoulli beam theory, and its reliability is verified by a commercial program NASTRAN. This method is significant in that the structural and multibody dynamics models can be unified into one numerical system. In addition, to analyze a multibody system including a very flexible beam, formulations for the sliding joint between a very deformable beam and a rigid body are derived using a non-generalized coordinate, which has no inertia or forces associated with it. In particular, a very flexible catenary cable on which a multibody system moves along its length is presented as a numerical example.

• 한국지반공학회논문집
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• 제31권12호
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• pp.59-69
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• 2015

본 연구는 절리형성 암반지층 굴착벽체에 작용하는 토압에 대한 암반종류 및 절리조건 (전단강도 및 절리경사각)뿐만아니라 절리군의 수에 대한 영향을 조사하였다. 모델실험 및 그에 대한 시뮬레이션결과를 토대로 다양한 수치해석적 매개변수연구가 수행되었다. 해석결과, 굴착벽체에 발생하는 토압은 절리군에 포함된 절리경사각에 큰 영향을 받았지만, 절리군의 수 자체만으로는 토압에 큰 영향을 주지는 않았다. 연구결과는 또한 토사지반에서의 토압인 Peck 토압과 상호 비교되었으며, 이를 통해 절리가 형성된 암반지층 굴착벽체에 발생하는 토압은 토사지반에서 발생하는 토압과 크게 다를 수 있다는 것을 파악하였다. 본 연구를 통해서 향후 암반지층에 설치되는 굴착벽체 설계시 적용하는 토압은 암반종류 및 절리조건과 더불어 절리군에 포함된 절리경사각을 고려하여 산정해야 할 것으로 판단된다.

• Tribology and Lubricants
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• 제29권1호
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• pp.46-50
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• 2013

In this study, the frictional behaviors of articular cartilage against a Co-Cr alloy in two types of kinematic motions were compared. Cartilage pins were punched from the femoral condyles of porcine knee joints, and Co-Cr alloy disks were machined from orthopedic-grade rods and polished to a surface roughness ($R_a$) of 0.002. Friction tests were conducted by using a pin-on-disk-type tribotester in phosphate buffered saline (PBS) under pressures of 0.5, 1, and 2 MPa. All tests were performed in the repeat pass rotational (ROT) and the linear reciprocal (RCP) sliding motions with the same sliding distance and speed of 50 mm/s. The coefficients of friction of the cartilage against the Co-Cr alloy increased with the sliding time in both kinematic motions for all contact pressures. The maximum coefficients of friction in RCP motion were 1.08, 2.82, and 1.96 times those in ROT motion for contact pressures of 0.5, 1, and 2 MPa, respectively. As the contact pressure increased, the coefficients of friction gradually increased in RCP motion, whereas they decrease and then increased in ROT motion. The interaction between the directional change of the shear stress and the orientation of collagen fiber in the superficial layer of the cartilage could affect the change in the frictional behaviors of the cartilage. A large difference in the coefficients of friction between the two kinematic motions could be interpreted as differences in the directional change of shear stress at the contact surface.

• 한국지반공학회논문집
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• 제18권4호
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• pp.229-238
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• 2002

본 연구에서는 절리면 거칠기를 정량적으로 산출하기 위하여 표면 거칠기 계수, Rs를 이용한 측정방법을 제안하고, 이를 바탕으로 절리면 거칠기가 절리면 전단강도에 미치는 영향을 제시하였다. 제시된 Rs를 이용하여 새로운 절리면 전단강도 모델을 제안하였다. 연구 결과, 표면 거칠기 계수인 Rs는 암반의 절리면 거칠기를 정량적으로 표현할 수 있는 유용한 방법이 될 수 있음을 알 수 있었다. Rs에 의한 암코아 규모의 절리면 거칠기 측정에는 최대 측정간격으로 2mm, 최소 측정 길이로 5cm가 적당하나, 이를 대규모의 현장 절리면에 확대 적용하기 위해서는 변동규모(scale of fluctuation), $\delta_u$를 도입하여야 한다. 절리면 거칠기가 작은 경우, 전단강도는 절리면에서의 미끄러짐으로 유발되었으나, 거친 절리면에서의 전단강도는 거칠기의 일부분이 파괴됨으로 인하여 발생됨을 알 수 있었다.

• Tribology and Lubricants
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• 제19권2호
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• pp.85-93
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• 2003

In this study, a multigrid multi-integration method has been used to solve the steady-state, elastohydrodynamic lubrication (EHL) point contact problem of a ball joint mechanism used in small reciprocating compressors. Pressure and film thickness profiles have been calculated at minimum and maximum Moes M parameter conditions during one revolution of crankshaft. The effects of various lubricant viscosities, loads, ball velocities, elastic modulli, and radii of curvature on the calculated pressure distribution and film thicknesses have been investigated. The results indicate that the viscosity of lubricant, the sliding velocity of ball, and the reduced radius of curvature have considerable effects on the minimum and central film thicknesses. Solutions obtained with the multigrid analysis are compared with results calculated according to the Hamrock ＆ Dowson relations for the minimum and central film thicknesses.

• 한국운동역학회지
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• 제17권2호
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• pp.11-21
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• 2007

The study was undertaken to present the quantitative materials available in underwater industries, underwater rehabilitation & physical training through comparison & analysis of effects contributing to propulsion of COG by types of fin-kick in underwater activities. For this 3D cinematography was performed for the skilled subjective and conclusions obtained on the basis of analysis of kinematic variables were as follows. In temporal variable the delay in the order of flutter>side>dolphin kick in elapsed time by total & phase resulted in longer sliding phase by larger fin kick of extension & flexion of both leg and thus more contributed in propulsion of COG. than those of the otherwise. In linear variable the contribution ratio to the result of propulsion of COG in both propulsive(mean $35.39{\pm}7.93cm$ in Y axis) and sliding phases(mean $66.36{\pm}11.01cm$ in Y axis)was shown to be order of flutter>dolphin>side fin kick. the maximum velocity of COG in Y direction was showed in both propulsive and sliding phases, and the contribution ratio to the propulsion of COG was in the order of flutter$\geq$dolphin>side fin kick. In angular variable the Significant difference in angle of leg joint by types of fin kick in both leg was showed but no routine order. The Significant difference in angular velocity of leg joint by types of fin kick in both leg was showed in the order of flutter>dolphin$\geq$side fin kick in propulsive but no in sliding phase. The Fluid resistance by tilting angle of trunk in both propulsive and sliding phase was decreased in the order of flutter>dolphin$\geq$side fin kick and tilting angle of trunk of the skilled was smaller than that of the unskilled in difference of maximum mean 7.97degree and minium mean 2.06degree. In summary of the above, It will desirable fin kick type because of more contribution to COG propulsion by the velocity & displacement in Y-axis and less fluid resistance by tilting angle of trunk and larger angular velocity in the case of more delayed in elapsed time of propulsive phase than that of the otherwise.

• 한국생산제조학회지
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• 제22권3_1spc호
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• pp.509-517
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• 2013

This paper presents upgraded equipment to assist a patient in rehabilitating of their knee-joint by themselves. A new automatic mechanism is suggested and developed in order to add functions for enforcing the leg muscles, which were absent in previous rehabilitation machines. Using the Pro-engineer software, we analyze the displacements and speeds of several moving points of the equipment during various planned exercises. In addition, an appropriate control panel for operation is developed. Three motors andthree motor drivers are used in a tilting part for the ankle joint, sliding guide part for the knee joint, and up-down moving part for the whole leg. Finally, various newly upgraded motions can be generated by controlling the three motors simultaneously. we show that by using this equipment, we can adjust the proper length of the equipment according to the user's height and the intensity of the rehabilitation exercise.

• 한국정보통신학회논문지
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• 제21권6호
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• pp.1203-1211
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• 2017

본 논문은 유연관절로봇의 추종성능과 정합과 비정합 외란 모두에 대한 강인성을 향상시키기 위한 강인한 제어기를 제안한다. 제안된 제어기는 백스테핑 외란관측기(DOB), 수동성기반 제어기(PBC)와 적분슬라이딩모드 제어기(ISMC)가 백스테핑기법 형태로 구성되어 있다. 백스테핑 DOB는 링크측의 비정합 외란을 고려하는데 사용되며 모터측의 기준입력을 제공하는 역할을 한다. IDA-PBC는 모터측의 추종제어를 수행하며 적분슬라이딩모드제어와 결합될 때 공칭제어기의 역할을 하며 전체 공칭제어시스템의 안정도를 보장받도록 한다. 반면에 적분슬라이딩모드제어는 정합조건을 만족시키는 모터측의 외란의 영향을 제거하는데 사용된다. 링크측의 제어기를 설계하는데 있어서는 PD타입의 임피던스제어기와 DOB가 결합됨으로써 강인한 제어특성과 함께 모터측의 기준입력에 적합한 연속적인 입력의 제공이 가능하도록 하였다.

• Journal of Advanced Marine Engineering and Technology
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• 제38권6호
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• pp.648-657
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• 2014

본 논문에서는 화재나 홍수로 인하여 침수된 건물 내부를 탐사할 수 있는 새로운 방수형 4축 로봇팔을 설계하고 로봇의 기구학 및 동역학 해석을 수행한다. 로봇팔은 카메라를 이용한 탐사를 위한 Pitch-Pitch-Pitch-Yaw 4축 구조로 설계하고, 이를 구동하기 위한 관절구동기의 용량을 선정한다. 또한 수심 10m의 방수가능한 관절구동기를 설계 하고 실제 구동시험을 통하여 방수성능을 검증한다. 설계한 로봇팔의 순기구학 및 역기구학 식의 해석을 통해 닫힌 해를 유도하며, 메커니컬실의 마찰력을 고려한 로봇팔의 운동방정식을 뉴턴-오일러 방법에 의해 유도한다. 유도한 동역학식을 이용하여 개발한 로봇이 목표궤적을 잘 추종할 수 있도록 슬라이딩모드 제어기를 설계하고, 시뮬레이션을 통해 그 성능을 확인한다.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2000년도 춘계 학술발표회 논문집 Proceedings of EESK Conference-Spring
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• pp.178-185
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• 2000

A set of tests were accomplished in order to get better insight of the basic material properties of masonry made of normal concrete brick and different type of mortar compositions. Three different types of test were performed. Masonry unit and prism were tested by compressive strength test, Masonry wallets were tested by compressive strength test. Masonry wallets were tested in diagonally under tension. A significant influence of different mortar compositions on compression strength of masonry prism was observed, The tests have shown that for diagonal compression three different mode of failure were possible : tension crack along the loaded diagonal sliding along a mortar joint and combined sliding and diagonal crack according to the adhesive strength of a mortar.