• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.387-390
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• 2002

In machine tools, the stiffness of feed drive system is very important for high speed and accurate operation. The ball screw driven feed system has small friction, so the longitudinal and twist stiffness are connected directly and affected by each other. As the longitudinal and twist stiffness are participated in total stiffness of feeding system by about ratio of 4:1, the combined stiffness is necessary to compute when stiffness of feed system is estimated. In this paper, calculation of this combined stiffness is derived and applied for an actual ballscrew fled drive system. The static stiffness and 1 st natural frequency of the feed system is measured, and it is proved the difference between estimation and experiment result is less than 6%.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 2003.03a
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• pp.302-310
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• 2003

Cracking of slabs will be caused by applied load and volume changes during the life of a structure and thus it reduces flexural stiffness of slabs. The effect of slab cracking must be considered for appropriate modeling of the flexural stiffness for frame members used in structural analysis. Analytical and experimental study was undertaken to estimate the stiffness reduction of slabs. In the analytical approach, the trend of slab stiffness reduction related to gravity and lateral loads is found and the stiffness reduction factor ranged from a half to a quarter in ACI building code is reasonable when defining range. Analyzing results of the test by Hwang and Moehle for 0.5% drift show that the differences of rotational stiffness on the connection types is found and good results of lateral stiffness using the value of one-third is obtained.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.718-721
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• 1996

In this work, an effective stiffness generated by internal loading for a planar 3 degrees of freedom RCC mechanism is investigated. For this purpose, the internal kinematic analysis and antagonistic stiffness modeling for this mechanism are performed. It is shown that the antagonistic stiffness could be effectively created at the center of the mechanism in its symmetric configuration.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.2830-2837
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• 2011

In this paper, a flexible track modeling of turnout was developed and dynamic characteristics of turnout rails were analyzed when a vehicle passed through the turnout. The flexible track modeling is effective to the stiffness and durability design of turnout, because it can capture the deformation and dynamic stress due to the collision of between wheels and rails when the vehicle move to the tongue rail. Also, a more accurate running safety can be obtained by considering the interaction between wheel and rail deformation. Solid finite elements were used for variable cross-sections of rails and the variation of rubber stiffness was modeled. The proposed flexible track modeling in this paper was verified to be valid by comparison with the experiment of the turnout system.

• Structural Engineering and Mechanics
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• v.50 no.2
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• pp.163-180
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• 2014

Inaccurate predictions of effective stiffness for reinforced concrete (RC) columns having plain (undeformed) longitudinal rebars may lead to unsafe performance assessment and strengthening of existing deficient frames. Currently utilized effective stiffness models cover RC columns reinforced with deformed longitudinal rebars. A database of 47 RC columns (33 columns had continuous rebars and the remaining had spliced reinforcement) that were longitudinally reinforced with plain rebars was compiled from literature. The existing effective stiffness equations were found to overestimate the effective stiffness of columns with plain rebars for all levels of axial loads. A new approach that considers the contributions of flexure, shear and bond slip to column deflections prior to yielding was proposed. The new effective stiffness formulations were simplified without loss of generality for columns with and without lap-spliced plain rebars. In addition, the existing stiffness models for the columns with deformed rebars were improved while taking poor bond characteristics of plain rebars into account.

• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.326-332
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• 2019

In the case of conventional soft robots, the basic stiffness is small due to the use of flexible materials. Therefore, there is a limitation that the load that can bear is limited. In order to overcome these limitations, a study on a variable stiffness method has been conducted. And it can be seen that the jamming mechanism is most effective in increasing the stiffness of the soft robot. However, the jamming mechanism as a method in which a large number of variable act together is not even theoretically analyzed, and there is no study on intrinsic principle. In this paper, a study was carried out to increase the stability of the force chain to increase the stiffness due to the jamming transition phenomenon. Particle size variables, backbone mechanisms were used to analyze the stability of the force chains. We choose a jamming mechanism as a variable stiffness method of a soft robot, and improve the effect of stiffness based on theoretical analysis, modeling FEM simulation, prototyping and experiment.

• Structural Monitoring and Maintenance
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• v.11 no.2
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• pp.127-148
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• 2024

Estimating cable tension is important in the maintenance of cable structures, such as cable-stayed bridges. In practice, the higher-order vibration method based on natural frequencies is used. In recent years, dampers have been installed onto cables to suppress aerodynamic vibration. Because the higher-order vibration method is suitable to cables without a damper, the damper must be removed before using this method. Because damper removal is time-consuming and labor-intensive, a previous study proposed a tension estimation method for a cable with a damper based on the natural frequencies, which does not require the damper's removal. However, the previous method relies on the modeling accuracy of the damper's complex stiffness. The damper design formula, while intended for design purposes, does not consistently reflect the damper's actual complex stiffness. Therefore, the estimation accuracy deteriorates when the damper's actual complex stiffness deviates from the damper design formula. With this background, this paper introduces a novel tension estimation method based on mode shapes, which circumvents damper modeling errors since mode shapes are independent of the damper's complex stiffness. In the numerical verification using 90 models, the proposed method estimated tension accurately with an estimation error within 0.59%. In the experimental verification, the proposed method estimated tension accurately with an estimation error within 4.17% except for one case, while the previous method had an estimation error of 44% when the damper design formula was used. The proposed method was found to be superior to the previous method in terms of accuracy and practicality by numerical simulation and experiment.

• Structural Engineering and Mechanics
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• v.36 no.3
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• pp.247-278
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• 2010

The study of the seismic vulnerability of masonry buildings requires structural properties of walls such as stiffness, ultimate load capacity, etc. In this article, a method is suggested for modeling the masonry walls under in-plane loading. At the outset, a set of analytical equations was established for determining the elastic properties of an equivalent homogeneous material of masonry. The results for homogenized unreinforced brick walls through detailed modeling were compared in different manners such as solid and perforated walls, in-plane and out-of-plane loading, etc, and it was found that this method provides suitable accuracy in estimation of the wall linear properties. Furthermore, comparison of the results of proposed modeling with experimental out coming indicated that this model considers the non linear properties of the wall such as failure pattern, performance curve and ultimate strength, and would be appropriate to establish a parametric study on those prone factors. The proposed model is complicated; therefore, efforts need to be made in order to overcome the convergency problems which will be included in this study. The nonlinear model is basically semi-macro but through a series of actions, it can be simplified to a macro model.

• Journal of the Korean Society of Safety
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• v.37 no.6
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• pp.60-70
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• 2022

This paper proposes an optimal design method of a seismic reinforcement system for the seismic performance of adjacent asymmetric-stiffness structures with viscous dampers. The first method considers plan asymmetry for efficient seismic reinforcement, and evaluates the seismic performance of optimal design applied to two cases of modeling: adjacent stiffness-asymmetric structures and adjacent stiffness-symmetric structures. The second method considers the response of asymmetric structures to derive the optimal objective function, and evaluates seismic efficiency of the objective function applied to two cases of responses: horizontal displacement and torsion. Numerical analyses are conducted on 7- and 10-story structures with a uni-asymmetric-stiffness plan using six cases of historic earthquakes, normalized to 0.4g. The results indicate that the seismic performance is excellent as modeled by adjacent asymmetric-stiffness structures and how much horizontal displacement is applied as the objective function.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.6
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• pp.705-713
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• 1999

In this paper, we propose a new motion and force control methodology for constrained robots as an approach of hybrid discrete-continuous dynamical system. The hybrid dynamic system modeling of robotic manipulation tasks with constraints is presented, and the hybrid system control architecture for unconstrained and constrained motion system with parametric uncertainties is synthesized. The optimal reference stiffness of robot manipulator is generated by the hybrid automata as a discrete state system and the control behavior of constrained system which has poor modeling information and time-varying constraint function is improved by the constrained robots as a continuous state system. The performance of the proposed constrained motion control system is successfully evaluated via experimental studies to the constraint tasks.