• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.219-222
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• 1995

This paper presents a control law of multiple actuation servo systems. Multiple actuation systems have an ability to solve some difficult engineering problems; Coulomb friction, backlash, and disturbance. This fact is shown by basic experiments as well as theoretical analysis. The proposed control strategy remarkably improves the performance comparing with conventional single actuation systems.

• Tunnel and Underground Space
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• v.29 no.3
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• pp.172-183
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• 2019

The generalized Hoek-Brown (GHB) failure criterion developed by Hoek et al. (2002) is a nonlinear function which defines a stress condition at failure of rock mass. The relevant strength parameter values are systematically determined using the GSI value. Since GSI index is a value quantifying the condition of in-situ rock mass, the GHB criterion is a practical failure condition which can take into the consideration of in-situ rock mass quality. Considering that most rock mechanics engineers are familiar with the linear Mohr-Coulomb criterion and that many rock engineering softwares incorporate Mohr-Coulomb criterion, the equations for the equivalent friction angle and cohesion were also proposed along with the release of the GHB criterion. The proposed equations, however, fix the lower limit of the minor principal stress range, where the linear best-fitting is performed, with the tensile strength of the rock mass. Therefore, if the tensile stress is not expected in the domain of analysis, the calculated equivalent friction angle and cohesion based on the equations in Hoek et al. (2002) could be less accurate. In order to overcome this disadvantage of the existing equations for equivalent friction angle and cohesion, this study proposes the analytical formula which can calculate optimal equivalent friction angle and cohesion in any minor principal stress interval, and verified the accuracy of the derived formula.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.12 no.11
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• pp.904-913
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• 2002

In this study, a dynamic analysis of the reciprocating compression mechanism considering viscous friction force of a piston used in small refrigeration compressors is performed. The length of cylinder in this class of compressors is shortening to diminish the frictional losses of the piston-cylinder system. So, the contacting length between piston and cylinder liner is in variable with the rotating crank angle around the BDC of the reciprocating piston. In the problem formulation of the compression mechanism dynamics, the change in bearing length of the piston and all corresponding viscous forces and moments are considered in order to determine the trajectories of piston and crankshaft. The piston orbits for viscous friction model and Coulomb friction model were used to compare the effect of the friction forces of piston on the dynamic trajectories of piston. To investigate the effect of friction force acting on the piston for the dynamic characteristics of crankshaft, comparison of the crankshaft loci is given in both viscous model and Coulomb model. Results show that the viscous friction force of piston must be considered in calculating for the accurate dynamic characteristics of the reciprocating compression mechanism.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.11a
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• pp.875-879
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• 2007

The effects of the statistical properties of the Coulomb friction coefficients on the dynamic responses of a galloping quadruped robot are investigated in this paper. In general, the Coulomb friction coefficients are assumed to be deterministic for a controller design to achieve required motion characteristics. However, the friction coefficients between the ground and the robot legs are not constant in reality. Therefore, statistical characteristics of the friction coefficients need to be considered for a multi-body modeling of the robot galloping on the ground. The effects of the statistical properties on the dynamic responses of the quadruped robots are investigated.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.102-109
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• 1996

Effects of frictional laws on finite element solutions in metal forming were investigated in this paper. A rigid-viscoplastic finite element formulation was given with emphasis on the frictional laws. The Coulomb friction and the constant shear friction laws were compared through finite element analyses of compression of rings and cylinders with different aspect ratios, ring-gear forging, multi-stage cold extrusion and hot strip rolling under the isothermal condition. It has been shown that two laws may yield quite different results when the aspect ratio of a process and the fractional contact region are large.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.517-522
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• 2000

When a body including a crack inside is subjected to the compressive forces, the crack is closed and sliding occurs on the crack surfaces. In this work, a subsurface crack subjected to a static or moving compressive load is analyzed with the finite element method considering friction on the crack surface. The friction on the crack surface is assumed to follow the Coulomb friction law. A numerical method based on the finite element method and iterative method is applied in this work. And the result is compared with the frictional contact of crack by ANSYS using contact 12 element. The numerical results of two methods are compared with the wellknown analytical solutions, and the accuracy of iterative method is checked..

• 유체기계공업학회:학술대회논문집
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• 2005.12a
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• pp.803-809
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• 2005

This paper presents the theoretical model to investigate the effect of Coulomb damping in the sub-structure of a foil bearing. Foil deflection is restricted by friction of bumps. Equivalent viscous damping of the bump foils is derived from the Coulomb friction. Dynamic equation of the bumps is constituted by stiffness and damping terms. This point give the difference from Heshmat's frictionless and simple compliance bump model. The fluid is modeled with the compressible Reynolds equation. A perturbation approach is used to determine the static and dynamic performance of the bearing from the coupled fluid-structural model. The analysis result shows that the static and dynamic performance is enhanced by bump friction. This analysis technique would be extended to development of a high performance bearing.

• The KSFM Journal of Fluid Machinery
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• v.9 no.1 s.34
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• pp.47-55
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• 2006

This paper presents the theoretical model to investigate the effect of Coulomb damping in the sub-structure of a foil bearing. Foil deflection is restricted by friction of bumps. Equivalent viscous damping of the bump foils is derived from the Coulomb friction. Dynamic equation of the bumps is constituted by stiffness and damping terms. This point give the difference from Heshmat's frictionless and simple compliance bump model. The fluid is modeled with the compressible Reynolds equation. A perturbation approach is used to determine the static and dynamic performance of the bearing from the coupled fluid-structural model. The analysis result shows that the static and dynamic performance is enhanced by bump friction. This analysis technique would be extended to development of a high performance bearing.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.6
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• pp.52-63
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• 1995

This paper presents a detailed derivation of the equations of motion for the stable member of a four-axis platform. Gimbal bearing friction is considered for motion analysis. First, dynamic characteristics of platform, gimbal and gyro with Coulomb friction are studied due to vehicle's angular motion. Second, Vehicle's motion is assumed the sinusoidal function and dynamic characteristics of platform, gimbal and gyro are studied. Conclusively, considering effects of Coulomb friction, they could not follow the vehicle's angular motion and have constant errors. In case of sinusoidal motion, relative angles for each gimbal are amplified, but they are sinusoidal function with almost the same phases.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.3
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• pp.947-954
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• 2014

In general, Fracture of the material is not occurring of the maximum normal stress or the maximum shear stress failure in the state. Maximum normal stress and maximum shear stress in the state of Critical coupling from being destroyed based on the Mohr-Coulomb theory. Couple of different mixtures, including permeable asphalt pavement, SMA and dense-graded asphalt mixture, were used for compression triaxial test at $45^{\circ}C$ and $60^{\circ}C$. Mohr-Coulomb theory to the analysis of compression triaxial test result of the internal friction angle $38.9^{\circ}{\sim}46.9^{\circ}$ measured somewhat irregularly, but in the case of cohesion, depending on whether the temperature and immersion of the specimen appeared differently. In addition, Indirect tensile test and compression triaxial test of the asphalt mixture to determine the correlation between compression triaxial test results assessed as cohesion and internal friction angle calculated using the theoretical Indirect tensile strength and measured indirectly tensile strength were analyzed. The Measured & Predicted IDT St values tended to be proportional.