• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.917-922
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• 2004

As the tasks of robots become more diverse, some complicated tasks have come to require force and position hybrid control. A compliant device can be used to control force and position simultaneously by separating the twist of the robot's end effector from the twist of compliance and freedom by using stiffness mapping of the compliant device. The development of a fuzzy gain scheduling scheme of control for a robot with a compliant device is described in this paper. Fuzzy rules and reasoning are performed on-line to determine the gain of twists based on wrench error and twist error and twist of compliance and twist of freedom ratio. Simulation results demonstrate that better control performance can be achieved in comparison with constant gain control.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2002년도 춘계학술발표대회 논문집
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• pp.57-60
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• 2002

The stiffness model has been proposed to predict elastic constants of twisted yarn composites. The model is based upon the unit cell structure, the coordinate transformation, and the volume averaging of compliance constants for constituent materials. For the correlation of analytic results with experiments, composite samples of various yarn twist angle were tested. The samples were fabricated by the RTM process using glass yarns and epoxy resin. The correlations of elastic constants showed relatively good agreements. The model provides the predictions of the three-dimensional engineering constants, which are valuable input data for the analytic characterization of textile composites made of twisted yarn.

• 한국생산제조학회지
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• 제23권2호
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• pp.164-172
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• 2014

This paper presents a method for analyzing the stiffness of full and low DOF (degree of freedom) planar parallel manipulators with serially connected legs. The individual stiffness of each leg is obtained by applying reciprocal screws to the leg twist using passive joints and elastic elements consisting of actuators and links. Because the legs are connected in parallel, the manipulator stiffness is determined by summing the individual leg stiffness values. This method does not require the assumption that springs should be located along reciprocal screws and is applicable to a planar parallel manipulator with a generic or singular configuration. The stiffness values of three planar parallel manipulators with different DOFs are analyzed. The numerical results are confirmed using ADAMS S/W.

• Advances in materials Research
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• 제13권2호
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• pp.87-102
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• 2024

This paper is focused on the delamination analysis of a multilayered beam structure loaded in torsion under strain-path control. The beam under consideration has a rectangular cross-section. The layers of the beam are made of different viscoelastic materials which exhibit continuous inhomogeneity in longitudinal direction. Since the delamination is located inside the beam structure, the torsion moments in the two crack arms are obtained by modeling the beam as an internally static undetermined structure. The strain energy stored in the beam is analyzed in order to derive the strain energy release rate (SERR). Since the delamination is located inside the beam, the delamination has two tips. Thus, solutions of the SERR are obtained for both tips. The solutions are verified by analyzing the beam compliance. Delamination analysis with bending-torsion coupling is also performed. The solutions derived are timedependent due to two factors. First, the beam has viscoelastic behavior and, second, the angle of twist of the beam-free end induced by the external torsion moment changes with time according to a law that is fixed in advance.

• Composites Research
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• 제15권6호
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• pp.30-37
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• 2002

꼰 섬유(twisted yarn)로 이루어진 복합재료의 탄성계수를 예측하기 위한 강성모델을 제시하였다. 이 모델은 단위 셀 구조를 바탕으로 하여 좌표변환과 구성 재료의 연성 상수를 체적 평균함으로써 복합재료의 탄성계수를 예측하는 방법이다. 해석적인 결과와 실험치와의 비교를 위하여 두 종류의 꼬임 각을 가지는 섬유로 구성된 복합재료에 대한 시험을 하였으며 인장, 압축, 전단 강도와 탄성계수를 구하였다. 이 시험편은 유리섬유 및 에폭시 수지를 사용한 RTM 성형법으로 제조하였다. 탄성계수에 대한 비교 곁과 예측치와 실험치는 비교적 잘 일치하였다. 이 모델에 의해 구해진 3차원적인 탄성계수 값은, 꼬인 섬유로 이루어진 직조형 복합재료 구조물의 구조해석을 위한 기본 물성치 입력값으로 사용될 수 있다.