A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.

Vibration measurement analysis and In-depth inspection were carried out to understand the cause of defects occurred on joint of bridge. A cause of defects, such as metallic sounds, water leak&corrosion and rubber seal rupture turn out to be due to deterioration and vibrating impact by period so that the bridge is in need of repair and effective maintenance.

Important factor of underground structures utilizing precast and rigid wall is joints and connections of wall-to-wall and wall-to-slab for safety performance and durability of underground constructions. In this study, conducting research on the structural safety of the connection as a future laboratory experiments and connection method for the verification of the details of the construction method is expected to proceed research.

The current road length in Korea is 106,000km, and the demand for new road construction is nearly reaching its limits. Even the policy of the road is on the turning point of new construction to maintenance and management. The need of effective maintenance for existing road infra is increasing, and as for new road, the paradigm is changing to characterized road construction. The development of technology for customized road system through modularization is actively tried out to satisfy the needs of multi-functional roads. In this study, the required performance about joint of modular road system was researched

본 연구에서는 급속시공을 위한 단지간의 슬래브 형식의 프리캐스트 모듈러교량의 종방향 연결부 상세를 제안하고자 한다. 슬래브 형식의 프리캐스트 모듈러교량은 횡방향으로 분절되어 제작되므로, 분절된 프리캐스트 모듈 사이에는 종방향의 연결부가 형성된다. 이에, 종방향 연결부의 형상과 제원을 결정하기 위해 전단키 개수, 폭, 높이, 경사각, 연결부 폭을 변수로 선정하여 해석적 연구와 실험적 연구를 함께 수행하였다. 결과 분석을 위해서 연결부에 초기 균열이 발생하는 균열하중에 대한 경향을 검토하였으며, 종방향 연결부의 효율성을 평가하기 위해 효율계수(efficiency factor)를 제안하였다. 해석 및 실험에서 얻어진 균열하중과 본 연구에서 제안된 효율계수를 이용하여 연결부의 형상 및 제원을 결정하였다.