Adhensively bonded joints in dissimilar materials have been widely applied in various engineering fields such as automobiles, space vehicle, semiconductor, vessel. To establish a fracture criterion and a reasonable strength evaluation method on adhensively interfaces in dissimilar materials, it is necessary to assess fracture parameters with various bonding conditions. In this paper, through stress analysis by using the 2-dimensional elastic boundary element method(BEM), the stress singularity factors on adhensively bonded joint in dissimilar materials were investigated quantitatively, and suggested the strength evaluation method by using fracture parameters

Friction welding in dissimilar materials is widely applied in various engineering fields such as automobiles, rolling stocks, machine tools. Since interface edges of Friction-welded materials have stress singularity by differences of mechanical properties and temperature changes, it is necessary to assess stress singularity with the variation of flash shape and length. In this paper, the influences which the flashes created by friction welding concern to the stress singularity at interface edges are investigated. Through stress analysis by the BEM and static experiments, the influences were studied quantitatively, the stress singularity greatly depends on the shape of the flash and its size.

With increasing use of SUH35/SUH3 dissimilar materials for automotive engine valves, it is required that stress singularities under residual stress on an interface for friction welded dissimilar materials analyzed to establish strength evaluation. The stress singularity index() and stress singularity factor( ) were calculated by using the results of stress analysis considering residual stress and loads. The stress singularities on variations for temperatures and loads acting from outside were analyzed and discussed. This paper suggested that the strength evaluation by using the stress singularity factors as fracture parameters, considering the stress singularity on an interface edge of friction welded dissimilar materials will be useful.

탄성 선형 경화 재료로 구성된 복합 구조물의 자유 경계면에서 나타나는 응력 특이도를 평면 변형률 상태에서 계산하였다. 자유 표면력 경계조건과 계면 연속조건을 만족해야하는 지배 탄성 방정식은 2점 경계치문제로 정의되며, 일반 고유치 문제의 해인 고유치가 응력 특이도가 될 것이다. 자유경계면 근처에서 응력 성분을 rs-1에 비례한다고 가정하여 특정한 s(고유치)를 구하는 고유치 문제를 뉴톤향상법과 사격법을 사용하여 수치적으로 해를 구하였다.

이 논문에서는, 균일한 횡방향 인장변형률이 작용하는 조건에서 강체모재들을 결합하고 있는 점탄성 접착재층의 계면모서리에 발생하는 응력 특이성을 조사하고있다. Williams방법을 응용하여 라플라스 변형공간에서 특성방정식을 구하였고, 주어진 점탄성 모델에 대해서 변형공간에서의 특성방정식을 시간공간으로 해석적으로 전환하였다. 시간 공간에서의 특이차수는 수치적으로 계산하였다. 계면을 따라 발생하는 응력의 특성을 조사하는데 시간영역 경계요소법을 적용하였다. 수치해석 결과에 의하면, 특이차수는 시간이 경과함에 따라 커지는 반면에, 자유모서리 응력확대계수는 시간에 따라 이완되는 특성을 보여주고 있다.

Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.

It is well-known that when singularities are located within the workspace of the parallel mechanism (PM), the usefulness of its workspace is significantly deteriorated. To handle this problem, we suggest an optimal design method which leads to more useful and larger workspace of the PM by taking its singularity locations into consideration in design process. Kinematic models of three selected planar PMs, a 5R type PM, a 3-RPR type planar PM, and a 3-RRR type planar PM, are derived via screw theory and their singularity analyses are conducted. Then workspace optimal designs for those three PMs are conducted to verify that the suggested design method leads more useful and larger workspace in which deterioration by singularity is minimal.