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김갑순,신의균,김우범,정수영,Kim, Kap Sun,Shin, Eui Gyun,Kim, Woo Bum,Chung, Soo Yong 한국강구조학회 1999 韓國鋼構造學會 論文集 Vol.11 No.3
본 연구의 목적은 소성영역에서의 철골 부재내에 존재하는 존재응력을 추정하는 법을 개발하기 위함이다. 여기에선 선행 실험 연구를 근거로 하여 응력집중 현상에 기인한 국부 소성화를 고려하여 보정계수법이 제안되었다. 구멍주위의 응력 분포를 파악하기 위하여 유한요소 해석을 수행하였고, 그 결과를 탄 소성역에서의 구멍내기법에 의한 결과와 비교하였다. 보정계수법을 적용한 결과, 본 연구에서 제안된 방법은 실재 초기 존재응력값과 약 2% 정도의 오차를 가진 매우 좋은 결과치를 나타냈다. The purpose of this study is to develop a method to deduce existing stress of steel member in inelastic range. Based on the previous experimental study, modified factor method considering the local plastification due to stress concentration was proposed. Finite element analysis was performed to investigate the stress distribution around hole and the results of the finite element analysis were compared with those from the Hole Drilling Method in elastic-plastic range. As a result of applying a modified factor method, proposed method shows very good approximation of 2% error for exact value of stress in the plastic range.
김갑순,강대임,정수연,주진원,Kim, Gap-Sun,Kang, Dae-Im,Jeong, Su-Yeon,Joo, Jin-Won 대한기계학회 1997 大韓機械學會論文集A Vol.21 No.11
This paper describes the design process of a 3-component load cell with a multiple parallel plate structure which may be used to measure transverse forces and twisting moment simultaneously. Also we have derived equations to predict the bending strains on the surface of the beams in the multiple parallel plate structure under transverse force or twisting moment. It reveals that the bending strains calculated from the derived equations are in good agreement with the results from finite element analysis and experiment. Also we have evaluated the rated output and interference error of each component, which can be efficiently used to design a 3-component load cell with a multiple parallel plate structure.
김갑순(Gab-Soon Kim),김천곤(Cheon-Kon Kim),신희준(Hyi-Jun Shin),김현민(Hyeon-Min Kim),윤정원(Jungwon Yoon) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.11
This paper describes the development of 6-axis ankle force/moment sensor for an intelligent foot a humanoid robot. In order to safely walk on uneven terrain in humanoid robot’s walking, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to a humanoid robot’s foot (ankle). They in the published paper already have some disadvantage in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis ankle force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to be gotten similar the rated output under each rated load. In this paper, the structure of a 6-axis ankle force/moment sensor “which has the rectangular beams for the lots of design variables and the proper size for mounting to robot’s ankle” was modeled and manufactured for a humanoid robot’s foot newly. And, the characteristic test of the developed sensor was carried out. The rated outputs from the derived equations agree well with the results from the experiments. The interference error of the sensor is less than 2.94%.