• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.167-172
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• 2015

In this paper, we propose a new approach to design and control a smart gripper of robot system. A control method for flexible grasping a object in partially unknown environment was proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases. The first step is scanning process which two first joints were moved to mid-position of the detected range by a state-variable feedback position controller, after the scanning was finished. The contact force of fingertip was then controlled using the detection sensor of the servo controller for finger joint control. The proposed grasping planning was tested on rectangular bar.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.559-563
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• 2000

In this paper we describe a method for aligning a robot gripper using image information. The region of gripper is represented from HSI color model that has major advantage of brightness independence. In order to extract the feature points for vision based position control, we find the corners of gripper shape using polygonal approximation method which determines the segment size and curvature of each points. We apply the vision based scheme to the task of alignment of gripper to reach the desired position by 2 RGB cameras. Experiments are carried out to exhibit the effectiveness of vision based control using feature points from polygonal approximation of gripper.

• Journal of Biosystems Engineering
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• v.25 no.1
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• pp.19-24
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• 2000

This study was carried out to develop gripper which to adaptive variable tray and to develop automatic transplanting system for seedling-production system between tray. This system consisted of five set of gripper and end-effector, a planting-width control unit, a tray transfer unit, and gripper moving device which move gripper between nursing tray and growing tray. This system used push-out rod to grasp plant instead of pull-out end -effector. Several types of fingers, which physically grip seedlings, were also developed and tested to ensure reliable transplanting operation of the gripper. The transplanting system detaches seedlings from a tray with push-o0ut rods, which were installed under the tray transfer unit. The performance of the transplanting system was evaluated by successive transplanting experiments. Using the best type of finger , the transplanting system produced 94.6% of transplanting success rate.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.05a
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• pp.161-161
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• 2004

AC 이중전기영동(AC electrophoresis)의 원리를 이용하여 탄소나노튜브 팁 제작용 탄소나노튜브 시편의 기초 실험을 수행하였다. 본 연구에서 사용한 방법은, 끝이 뽀족한 다수의 팁(tip)에 탄소나노튜브를 비교적 균일하게 부착시킬 수 있는 공정의 기반이 된다. 이것은 탄소나노튜브를 이용한 나노팁(nano-tip)이나 탄소나노튜브 나노그리퍼(nanogripper) 제작 공정에 균일성을 확보할 수 있는 중요한 방법으로 활용될 수 있다. 탄소나노튜브 시편의 제작을 위해, 끝단이 곡률반경이 50nm 정도인 텅스텐 팁과 직경 1.5mm, 깊이 1.5mm의 실린더형 금속전극을 사용했다.(중략)

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.193-199
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• 2015

This paper dealt with a pincers-type gripper being able to grip a heavy-weighted cylindrical object having various size with itself. This gripper should be designed to seize the objects without any change of jaw shape. Grasping achieved equilibrium after the object slipped on the jaw while grasping it. To cope with this situation, we suggested the slip considered gripper design procedure based on grasping equilibrium. The obtained slip condition can provide a limit friction coefficient depending on the contact angle when initiating contact between jaw and object. Consequently, the gripping force and the required actuating force can be calculated. In order to verify the proposed slip condition, the simulations were performed using a dynamic software.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.1
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• pp.37-44
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• 2015

In the research, we developed a device for cooling the drive section of the gripper of a robot for handling the high temperature material. In this study, By using a Peltier element, the high-temperature material is not affected and driving cylinder is cooled to prevent damage due to high temperatures. Hot part of the Peltier element is towards the robot gripper. Cool part of the Peltier element is towards the driving cylinder. The heat sink portion is made to keep the cooling effect. As the performance result, cooling-test is taken, and their result is satisfy.

• Proceedings of the KSME Conference
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• 2001.06b
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• pp.158-163
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• 2001

Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human interfaces, due to the scaling effects in micro/nano world. This paper presents a micro manipulation system based on the teleoperation techniques which enables the operators to manipulate the objects with ease by transferring both human motion and manipulation skill to a micromanipulator. An experimental setup consisting of a micromanipulator operated under stereo-microscope with the help of intelligent user interface provides a tool that can be used to visualize and manipulate micro-sized 3D objects in a controlled manner. The key features of a micro manipulation system and control strategies using teleoperation techniques for handling micro objects are presented. Experimental results demonstrate the feasibility of this system in precisely controlling trapping and manipulation of micro objects based on teleoperation techniques.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.9
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• pp.1589-1596
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• 2003

In this paper, we performed the improvement study for the dynamic characteristics enhancement of the motor stator coil vertical winding machine. The dynamic characteristics improvement was done by means of the optimized design and the weight reduction of the flyer configuration, modified design of the servo control system for the flyer and the former actuation, and the development of jump timing digital circuit for the reduction of former jumping error. As the results, the maximum winding speed pattern of the developed machine was attained up to 3000rpm and also reduced the jumping error. In conclusion, domestic design technology for manufacturing the motor coil vertical winding machine was established through this study.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2002.02a
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• pp.173-179
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• 2002

본 연구는 시설재배지의 장기재배를 위하여 연작장해를 극복하는 데 필요한 벼재배를 위하여 일손이 부족한 농번기에 생력적인 단동비닐하우스 골조파이프의 설치 및 철거장치 개발을 위한 연구로 수행하였다. 농업용 로더용의 차체와 차륜을 사용하는 전용기로서 단동비닐하우스 골조파이프를 적재하고 1본씩 이송 가능한 4스크류방식의 피딩장치와 타설위치에서 매설깊이를 일정하게 관입할 수 있는 롤러 방식의 그리퍼 및 타설장치로 구성하였다. 이상의 연구 결과를 요약하면 다음과 같다. 1. 단동비닐하우스 골조파이프를 기계적으로 설치 철거하는 장치를 개발하였으며, 1동 분량의 골조파이프를 적재하여 1본 이송, 피딩, 관입 등이 자동으로 가능하며, 주행하면서 철거가 가능한 장치로 구성하였다. 2. 수작업의 골조파이프 타설작업 시간대비 10배 정도의 노동력 절감효과가 있으며, 농번기와 중노동의 회피, 연작장해 스트레스 경감 등 시설재배농가의 현장애로 해결에 많은 도움이 예상된다. 3. 단동비닐하우스 골조파이프의 설치 및 철거장치를 활용함으로서 연작장해 회피를 위한 수도작의 재배 등 시설재배농가의 안정적인 장기 재배가 가능하여 생산성 향상과 고품질 농산물의 안정적인 공급에도 기여할 것으로 판단된다.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.11
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• pp.100-107
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• 1998

This paper presents the development of estimation model and control method based on the new robot vision. This proposed control method is accomplished using the sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on the model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters, depending on each camera the joint angle of robot is estimated by the iteration method. The method is experimentally tested in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.