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Development of a New Buffing Robot Manipulator for Shoes  

Hwang Gyu-Deuk (한국해양대학교 대학원)
Cho Sung-Duk (한국해양대학교 대학원)
Choi Hyeung-Sik (한국해양대학교 UVRC)
Publication Information
Journal of the Korean Society for Precision Engineering / v.23, no.7, 2006 , pp. 76-83 More about this Journal
Abstract
In this paper, an analysis on a new robot manipulator developed for the side buffing of the shoes is presented. The robot manipulator is composed of five degrees of freedom. An analysis on the forward and inverse kinematics was performed. Through the analysis, an analytic solution was derived for the joint angles corresponding to the position and orientation of the tool in the Cartesian coordinates. The hardware system of the robot composed of the control system, input/output interface system, and related electronic system was developed. The communication system was also developed to interact the robot with the related surrounding systems. A graphic user interface(GUI) program including the forward/inverse kinematics, control algorithm, and communication program was developed using visual C++ language.
Keywords
Robot Manipulator; Buffing; Kinematics of robot; Control system;
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