• Title/Summary/Keyword: 제조 로봇

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Development of a Hexapod Robot for Multi-terrain Reconnaissance (다양한 험지 정찰을 위한 6족 보행 로봇 개발)

  • Lim, Seoung-Yong;Kim, Jong-Hyeong;Kim, Hyeong-Gik
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.24 no.6
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    • pp.667-674
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    • 2015
  • This paper describes the development of a prototype hexapod robot with six circular legs to overcome a variety of challenging terrains. The legs of the robot are very important for stability during walking, which are analyzed for determining the optimal design parameters through CAE tools. Its control system consists of three types of sensors, microprocessors, and communication modules for PC interface. The entire operation of the robot can be controlled and monitored using a PC. The experimental operations for three different roads verified the feasibility of the prototype robot for carrying out reconnaissance on multi terrain. In the near future, the prototype robot can be used for a military purpose of detecting and informing a potential risk in advance.

Robot System Design Capable of Motion Recognition and Tracking the Operator's Motion (사용자의 동작인식 및 모사를 구현하는 로봇시스템 설계)

  • Choi, Yonguk;Yoon, Sanghyun;Kim, Junsik;Ahn, YoungSeok;Kim, Dong Hwan
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.24 no.6
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    • pp.605-612
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    • 2015
  • Three dimensional (3D) position determination and motion recognition using a 3D depth sensor camera are applied to a developed penguin-shaped robot, and its validity and closeness are investigated. The robot is equipped with an Asus Xtion Pro Live as a 3D depth camera, and a sound module. Using the skeleton information from the motion recognition data extracted from the camera, the robot is controlled so as to follow the typical three mode-reactions formed by the operator's gestures. In this study, the extraction of skeleton joint information using the 3D depth camera is introduced, and the tracking performance of the operator's motions is explained.

Design of Fusion Platform Robot for Ground and Aerial Reconnaissance (항공 및 지상 동시 정찰이 가능한 융합형 정찰로봇 설계)

  • Jang, Dong-Hwi;Ko, Hyun-Jun;Kim, Jong-Hyeong
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.24 no.6
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    • pp.718-723
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    • 2015
  • This paper describes the conceptual platform design of a dual-capable robot for both driving on the ground and flying in the air. The dual-capable robot can move over all types of terrain for both ground and aerial reconnaissance. The main design problem of the robot is how to make a wheel for both driving and flying. The proposed key design concept is a hubless driving wheel that contains a propeller inside for flying in the air. The primary design parameters and initial specifications were confirmed through an examination of the conceptual design, and functional tests were then conducted using a real prototype robot for driving and flying modes. The test results show the feasibility of the proposed design concept.

Automation of Cell Production System for Cellular Phones based on Multi-dual-arm Robots (복수의 양팔로봇을 적용한 휴대폰 셀 생산시스템의 자동화)

  • Do, Hyun Min;Kim, Doo Hyeong;Kyung, Jin Ho
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.23 no.6
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    • pp.580-589
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    • 2014
  • Demands for automation in the cell production process of IT products are becoming increasingly sophisticated. In particular, the dual-arm robot has drawn attention as a solution because it has a flexibility and works similarly to humans. In this paper, we propose an automation system for cellular phone packing processes using two dual-arm robots. Applied robots are designed with specifications to meet the requirements of cellular phone packing jobs. In addition, a robotic cell production system is proposed by applying a method of task allocation for efficient packing of cellular phones. Specifically, a task is assigned to reduce takt-time and to avoid collision between two robots. Finally, we discuss some experimental results that include the packing job of five unit boxes with seven kinds of accessories.

Synchronization Error-based Control Approach for an Industrial High-speed Parallel Robot (다축 동기 제어 방법 기반의 산업용 고속 병렬로봇 제어)

  • Do, Hyun Min;Kim, Byung In;Park, Chanhun;Kyung, Jin Ho
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.25 no.5
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    • pp.354-361
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    • 2016
  • Parallel robots are usually used for performing pick-and-place motion to increase productivity in high-speed environments. The present study proposes a high-speed parallel robot and a control approach to improve the tracking performance for the purpose of handling a solar cell. However, the target processes are not limited to the solar cell-handling field. Therefore, a delta-type parallel manipulator is designed, and a ball joint structure is specifically proposed to increase the allowed angle that would meet the required workspace. A control algorithm considering the synchronization between multiple joints in a closed-chain mechanism is also suggested to improve the tracking performance, where the tracking and synchronization errors are simultaneously considered. In addition, a prototype machine with the proposed ball joint is implemented. A satisfactory tracking performance is achieved by applying the proposed control algorithm, with a cycle time of 0.3 s for a 0.1 kg payload.

Development of Ergonomic Walking Assistance Robot for the Elderly and the Infirm (노약자들을 위한 인체공학적 보행 보조 로봇의 개발)

  • Kim, Jung-Yup
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.22 no.3_1spc
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    • pp.600-606
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    • 2013
  • This paper describes the development of a novel walking assistance robot for the elderly and infirm. In the case of simple walking assistance devices, the walking safety and effectiveness are somewhat low; hence, caregivers are frequently required. The walking assistance robot developed in this research is capable of securely and conveniently assisting a walking user by using electric motors and various devices without a caregiver. The main features include the following. First, the walking safety is improved by using a pelvis supporter, and the robot is able to follow the user effectively by means of ergonomic motion sensors and electric powered wheels. Second, it is possible to adjust the load applied to the lower body by adjusting the height of the pelvis supporter. Finally, it is possible to inform the approximate distance and direction of any obstacle around the robot using the sounds and vibrations for the blind and the hearing impaired. The performance of the developed walking assistance robot was successfully verified using a walking assistance test in a narrow-corridor environment.

Robot Driving System and Sensors Implementation for a Mobile Robot Capable of Tracking a Moving Target (이동물체 추적 가능한 이동형 로봇구동 시스템 설계 및 센서 구현)

  • Myeong, Ho Jun;Kim, Dong Hwan
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.22 no.3_1spc
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    • pp.607-614
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    • 2013
  • This paper proposes a robot driving system and sensor implementation for use with an education robot. This robot has multiple functions and was designed so that children could use it with interest and ease. The robot recognizes the location of a user and follows that user at a specific distance when the robot and user communicate with each other. In this work, the robot was designed and manufactured to evaluate its performance. In addition, an embedded board was installed with the purpose of communicating with a smart phone, and a camera mounted on the robot allowed it to monitor the environment. To allow the robot to follow a moving user, a set of sensors combined with an RF module and ultrasonic sensors were adopted to measure the distance between the user and the robot. With the help of this ultrasonic sensors arrangement, the location of the user couldbe identified in all directions, which allowed the robot to follow the moving user at the desired distance. Experiments were carried out to see how well the user's location could be recognized and to investigate how accurately the robot trackedthe user, which eventually yielded a satisfactory performance.

Teaching Method Without Work Space Limit for Industrial Robot (산업용 로봇의 작업공간 제한이 없는 교시 방법)

  • Choi, Taeyong;Do, Hyunmin;Park, Chanhun;Park, Dongil;Kim, Doohyeong;Kyung, Jinho
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.25 no.6
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    • pp.492-497
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    • 2016
  • Teaching an industrial robot is still a dangerous and time-consuming process. It is expected that a robot can track a trajectory that is repeatedly taught by a human operator. Teaching a robot in joint space is easier than that in Cartesian space or a work space because the robot will never lose its stability when it is taught and operated in a joint space. However, it is very easy for a robot to lose its stability when it is taught in a work space. This is because of the singular points problem in kinematics for manipulators. Thus, experts should teach a given task to a robot in a careful manner. A new algorithm that avoids the problem of singular points is proposed. Using this proposed method, a user can freely teach a robot without the chance of instability in an entire work space.

Vibration Analysis of the Large Substrate Handling Robot (8.5G 솔라셀 평판 핸들링 로봇의 진동 제어)

  • Park, Dong Il;Park, Cheolhoon;Park, Chanhun;Kim, Doohyung
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.25 no.6
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    • pp.498-503
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    • 2016
  • Many types of robot systems are used in the mass production line of thin film solar cells and flat panel displays. There are some issues such as the deflection and the vibration of the end-effector because robots handle large and heavy substrates at high speed. Heavy payload and high speed cause much vibration because the end-effector (fork) is made of carbon fiber reinforced polymer because of its light weightiness and sufficient stiffness. This study performs a dynamic simulation of an 8.5G solar cell substrate handling robot, including rigid and flexible bodies and a vibration controller. The fifth polynomial trajectory and the zero vibration derivative input shaping algorithm are applied. The vibration reduction is also proved in the experiments.

Safe Industrial Manipulator Based on a Counterbalancing Mechanism with Adaptation to the Posture Change of a Robot Base Plane (로봇 설치면 자세 변화에 대응 가능한 자중 보상 기반 안전 매니퓰레이터)

  • Do, Hyun Min;Kim, Hwi-Su;Kim, Doo Hyeong;Choi, Tae-Yong;Park, Dong Il;Son, Youngsu
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.25 no.6
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    • pp.511-516
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    • 2016
  • Guaranteeing the safety of human workers around robots has become an important issue with the increasing demand for human-robot collaboration in industrial production lines. This study proposes a robot manipulator equipped with a counterbalancing mechanism that reduces the power of actuators required to drive the robot, thus keeping a human worker safer in a human-robot collaborative environment. A counterbalancing torque that exactly cancels out the gravitational torque in the proposed mechanism is generated by restoring the force of a spring in the counterbalancing mechanism. A prototype design and experimental results are presented to verify the effectiveness of the proposed method.