• Title/Summary/Keyword: Joint

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Dexterity modulation of parallel manipulators using joint freezing/releasing and joint unactuation/actuation

  • Youm, Sungkwan;So, Jinho;Kim, Sungbok
    • 제어로봇시스템학회:학술대회논문집
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    • pp.764-767
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    • 1997
  • This paper presents the modulation of the dexterity of a parallel manipulator using joint freezing/releasing and joint unactuation/actuation. In this paper, individual limbs have redundant number of joints, and each joint can be frozen/released and unactuated/actuated, as needed. First, given a task, the restrictions on joint freezing and joint unactuation of a parallel manipulator are derived. Next, with/without joint freezing and/or joint unactuation, the kinematics of a parallel manipulator is formulated, based on which the manipulability ellipsoid is defined. The effects of joint freezing and joint unactuation on the manipulability are analyzed and compared. Finally, simulation results for a planar parallel manipulator are given. Joint mechanisms, such as joint freezing and joint unactuation, are rather simple to adopt into a parallel manipulator, but is quite effective to improve the task adaptability of the system.

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Field Test and Analysis of Joint Depths and Timing Contraction Joint Sawing for Concrete Pavement (콘크리트포장의 줄눈깊이 및 절단시기에 관한 유도균열 거동특성 연구)

  • 홍승호;양성철;엄주용
    • Proceedings of the Korea Concrete Institute Conference
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    • pp.469-474
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    • 1999
  • The object of study is analysis to joint crack behavior of cracked joint concrete pavement. In the new constructing concrete pavement, joint crack behavior was compared general joint depth D/4 with joint depth D/3 and D/5 that it's environmental effects changed temperature and humidity. After joint saw cutting joint section was predicted crack at joint depth D/5 test section from the result for monitoring development of crack. In the setting of data logger system of the joint section, it's data compared see with the naked eye. In the research, development of crack at the joint section should effect to joint saw timing latter than joint depth. This performance could be the minimum of deterioration to the early curing. In this research, At new constructing of joint concrete pavement of highway, the monitoring system be setting after finished paving and joint sawing. The system and see with the naked eye could be analysis to pavement behaviors from collecting data at the test section. This system could be monitoring shot term and long term. In this report, joint section of crack behavior analysis used to collected data during a month after paving and joint sawing.

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Modelling of Rock Joint Shear Strength Using Surface Roughness Parameter, Rs (표면 거칠기 계수 Rs를 이용한 암석 절리면 전단강도 모델)

  • 이석원;배석일;이인모
    • Proceedings of the Korean Geotechical Society Conference
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    • pp.73-80
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    • 2001
  • The shear strength of jointed rock is influenced by effective normal stress, joint wall compressive strength, joint roughness and so on. Since joint roughness makes considerable influences on shear strength of jointed rock, many studies tried to get quantitative joint roughness parameter. Until now, Joint Roughness Coefficient, JRC proposed by Barton has been prevalently used as a rock joint roughness parameter In spite of its disadvantages. In this study, a quantification of rock joint roughness is performed using surface roughness parameter, Rs. Proposed method is applied to rock core specimens, field joint surfaces, and JRC profiles. The scale of fluctuation is introduced to extend the suggested method to the large scale field joint surface roughness. Based on the quantification of joint surface roughness, joint shear tests are performed with the portable shear box. The relationship between joint surface roughness and joint shear strength is investigated and finally, a rock joint shear strength equation is derived from these results. The equation has considerable credibility and originality in that it is obtained from laboratory tests and expressed with quantified parameter.

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Redundancy Resolution by Minimization of Joint Disturbance Torque for Independent Joint Controlled Kinematically Redundant Manipulators

  • Park, Myoung-Hwan
    • Transactions on Control, Automation and Systems Engineering
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    • v.2 no.1
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    • pp.56-61
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    • 2000
  • Majority of industrial robots are controlled by a simple independent joint control of joint actuators rather than complex controllers based on the nonlinear dynamic model of the robot manipulator. In this independent joint control scheme, the performance of actuator control is influenced significantly by the joint disturbance torques including gravity, Coriolis and centrifugal torques, which result in the trajectory tracking error in the joint control system. The control performance of a redundant manipulator under independent joint control can be improved by minimizing this joint disturbance torque in resolving the kinematic redundancy. A 3 DOF planar robot is studied as an example, and the dynamic programming method is used to find the globally optimal joint trajectory that minimize the joint disturbance torque over the entire motion. The resulting solution is compared with the solution obtained by the conventional joint torque minimization, and it is shown that joint disturbance can be reduced using the kinematic redundancy.

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Comparison with Load Transfer Efficiency for Joint Types in Airport Concrete Pavements (줄눈형식에 따른 공항 콘크리트 포장 하중전달율 비교)

  • An, Ji-Hwan;Jeon, Sung-Il;Kwon, Soo-Ahn;Kim, Min-Woo
    • International Journal of Highway Engineering
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    • v.16 no.3
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    • pp.9-20
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    • 2014
  • PURPOSES : This study is to compare load transfer efficiency of key joint and dowel joint for airport concrete pavement. METHODS : As AC150/5320-6D of FAA's [Advisory Circular] was changed into AC150/5320-6E, Key joint type of rigid pavement were excluded from Construction Joints. LTE(Load Transfer Efficiency) of dowel joint and key joint were compared by times and seasons through pavement temperature measurement, ocular investigation and HWD measurement. RESULTS : For the joint performance grade of No. 2(The second) runway of airport, 12% of poor rate was observed in key joint and 2% of poor rate in dowel joint. Poor rate of key joint was increased to 17%, if only No. 3~No. 6 slabs, which are mostly loaded from the airplanes, were applied for the study. In apron area, LTE poor rate of key joint was high in winter, and LTE poor rate of dowel joint was at least above 'Fair' grade. In summer, 'Fair' for key joint, 'Acceptable' for dowel joint appeared. CONCLUSIONS : As results, dowel joint was superior than key joint for LTE. Deviations of seasons and times were smaller in dowel joint's result. And LTE in winter was lower than LTE in summer.

A Study on the Structural Methods between Purlin and Beam at Wooden Architecture in Joseon Dynasty (조선시대 목조건축 도리와 보의 결구방법에 관한 연구)

  • Jung, Yun-Sang
    • Journal of architectural history
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    • v.16 no.6
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    • pp.87-100
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    • 2007
  • This study examines on the structural Methods between purlin and beam at Wooden Architecture in Joseon Dynasty($1372{\sim}1910$). Through the investigation, it is verified that the structural methods between purlin and beam is the technique utilizing tenon joint(통장부맞춤), Sungeoteok joint(숭어턱맞춤), dovetailed tenon joint(주먹장맞춤). And the methods of tenon joint is followed by the Sungeoteok joint, which is used in the buildings after middle Joseon dynasty. The method of tenon joint(통장부맞춤) is to connect the beam with the purlin by carving out the head of the beam as '一' shape. And the structural methods between Janghyeo(장혀, timber under purlin) and beam is halved joint(반턱맞춤) and tenon joint (통장부맞춤). The buildings in late Goryeo Dynasty and Joseon Dynasty adopted the method of tenon joint between purlin and beam. The method of Sungeoteok joint is to connect the beam with the purlins by carving out the head of the beams '凸' shape. And the structural methods between Janghyeo and beams is halved joint(반턱맞춤) and tenon joint(통장부맞춤), the method of tenon and step joint(통장부턱맞춤), dovetailed joint between beam and Janghyeo to increase the security of shear force.

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Stress Analysis Of Wavy Lap Joint (WAVY LAP JOINT 응력 해석)

  • 김위대;양승희
    • Proceedings of the Korean Society For Composite Materials Conference
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    • pp.216-219
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    • 2000
  • The adhesive bonded single-lap joint is due to its intrinsic load eccentricity problem, severe peel stresses concentration occur at both end of the joint. In this paper, new lap-joint is designed to avoid the singular peel stress, and to compare the stresses of the middle adhesive layer between the single-lap joint and the wavy-lap joint. Two adherend lay-up, i.e., [90/0/90/0]$_{2s}$ and [0/90/0/90]$_{2s}$ were consider in the study.

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Analytical modeling of thin-walled box T-joints

  • Marur, Prabhakar R.
    • Structural Engineering and Mechanics
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    • v.32 no.3
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    • pp.447-457
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    • 2009
  • A general analytical method for computing the joint stiffness from the sectional properties of the members that form the joint is derived using Vlasov's thin-walled beam theory. The analytical model of box T-joint under out-of-plane loading is investigated and validated using shell finite element results and experimental data. The analytical model of the T-joint is implemented in a beam finite element model using a revolute joint element. The out-of-plane displacement computed using the beam-joint model is compared with the corresponding shell element model. The results show close correlation between the beam revolute joint model and shell element model.

Correlation between sway magnitude and joint reaction force during postural balance control (자세 균형 제어 시 동요의 강도와 관절 반발력의 상관관계)

  • 서민좌;조원학;최현기
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.1160-1165
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    • 2004
  • The purpose of this study was to calculate three dimensional angular displacements, moments and joint reaction forces of the ankle joint during the waist pulling, and to assess the ankle joint reaction forces according to different perturbation modes and different levels of perturbation magnitude. Ankle joint model was assumed 3-D ball and socket joint which is capable of three rotational movements. We used 6 cameras, force plate and waist pulling system. Two different waist pulling systems were adopted for forward sway with three magnitudes each. From motion data and ground reaction forces, we could calculate 3-D angular displacements, moments and joint reaction forces during the recovery of postural balance control. From the experiment using falling mass perturbation, joint moments were larger than those from the experiment using air cylinder pulling system with milder perturbation. However, JRF were similar nevertheless the difference in joint moment. From this finding, we could conjecture that the human body employs different strategies to protect joints by decreasing joint reaction forces, like using the joint movement of flexion or extension or compensating joint reaction force with surrounding soft tissues. Therefore, biomechanical analysis of human ankle joint presented in this study is considered useful for understanding balance control and ankle injury mechanism.

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Joint disturbance torque analysis for robots and its application in straight line path placement (로봇의 관절외란해석을 이용한 직선궤적 위치결정)

  • ;Choi, Myuoung Hwan
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1824-1827
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    • 1997
  • Majority of industrial robots are controlled by a simple joint servo control of joint actuators. In this type of control, the performance of control is influenced greatly by the joint interaction torques including Coriolis and centrifugal forces, which act as disturbance torques to the control system. As the speed of the robot increases, the effect of this disturbance torque increases, and makes the high speed-high precision control more difficult to achieve. In this paper, the joint disturbance torque of robots is analyzed. The joint disturbance torque is defined using the coefficients of dynamic equation of motion, and for the case of a 2DOF planar robot, the conditions for the maximum joint disturbance torques are identified, and the effect of link parameters and joint variables on the joint disturbance torque are examined. Then, a solutioin to the optimal path placement problem is proposed that minimizes the joint disturbance torque are examined. then, a solution to the optimal path placement problem is proposed that minimizes the joint disturbance torque during a straight line motion. the proposed method is illustrated using computer simulation. the proposed solution method cna be applied to the class of robots that are controlled by independent joint sevo control, which includes the vast majority of industrial robots. By minimizing the joint disturbacne torque during the motion, the simple joint servo controlled robot can move with improved path tracking accuracy at high speed.

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