• Title/Summary/Keyword: 6축 수직다관절로봇

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Design of an 6 axial vertical multi-joint modular manipulator (6축 수직 다관절 로봇팔의 설계)

  • Ko, Young-Jun;Kim, Kyu-tae;Koo, Mo-se;Park, Myeong-Suk;Kim, Sang-Hoon
    • Proceedings of the Korea Information Processing Society Conference
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    • 2021.11a
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    • pp.409-412
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    • 2021

  • 본 논문에서는 카페나 패스트푸드점같은 장소에서 인간을 대신하여 임의의 위치에 있는 다양한 컵을 3D 카메라로 검출하여 알맞은 위치로 분리수거하는 6축 수직 다관절 로봇 팔을 설계하였다. Yaw-Pitch-Pitch-Pitch-Yaw-Yaw 6축 구조로 설계하였으며, 이를 구동하기 위한 관절 구동기의 용량을 분석을 통해 최적화하였다. 각각 재질이 다른 컵을 그리퍼를 이용하여 잘 파지할 수 있도록 재질에 따른 파지력을 분석하였고 압력센서를 이용하여 재질이 다른 컵을 구분하여 분리수거 할 수 있도록 하였다. 실험을 통해 로봇의 성능과 개선점을 제시하였다.

  • https://doi.org/10.3745/PKIPS.y2021m11a.409 인용 PDF

A Study on the Cooperative Kinematic Inter-operation of 2-Axis (Tilting/Rolling) Additional Axes with a 6-Axis Articulated Robot Using Simulink of MATLABⓇ and RecurdynⓇ (MATLABⓇ과 RecurdynⓇ의 Simulink를 활용한 2축 부가 축과 6축 수직 다관절로봇의 기구적 연동에 관한 연구)

  • Bae, Seung-Min;Chung, Won-Jee;Noh, Seong-Hoon
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.20 no.4
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    • pp.16-23
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    • 2021

  • Currently, 6-axis articulated robots are used throughout the industry because of their 6-dof (degrees of freedom) and usability. However, 6-axis articulated robots have a fixed base and their movements are limited by the rotational operating range of each axis. If the angle of the 2-axis additional axes can be adjusted according to the position and orientation of the end-effector of the 6-axis articulated robot, the effectiveness of the 6-axis articulated robot can be further increased in areas where the angle is important, such as welding. Therefore, in this paper, we proposed a cooperative kinematic inter-operation strategy. The strategy will be verified using the Simulink of MATLABⓇ, an engineering program, and RecurdynⓇ, a dynamic simulation program.

  • https://doi.org/10.14775/ksmpe.2021.20.04.016 인용 PDF KSCI

F/T 센서를 이용한 로봇 지능 향상 방안

  • 박종오
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1992.04a
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    • pp.349-353
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    • 1992

  • 로봇 경로프로그래밍 작업의 단순화는 산업용 로봇응용분야중 경로가 복잡할 경우, 예를 들어 연삭, 디버링, 폴리싱등 의 가공분야 그리고 아크용접같은 작업에서, 더욱 절실한 문제가 되고있다. 기존 로봇 프로그래밍 방식은 죠이스틱 또는 티칭 유니트, 오프라인 그리고 메스터-슬레이브 방식으로 구분될 수 있는데 각각 많은 프로그래밍 시간소요, 현장성부족 그리고 적용 로봇에의 한계를 문제점으로 들 수 있다. 여기서는 6축 수직 다관절 로봇의 손목부위에 6자 유도의 F/T 센서를 부착하여 작업자가 직접 로봇의 엔드 이펙트를 잡고 원하는 경로를 따라가는 동안 경로가 자동 프로 그래밍되는 알고리즘을 실험 결과와 함께 제시하고 있다.

Implementation of a 2-axis Additional Axes Strategy on a 6-axis Articulated Robot for Improving Welding Process Efficiency (2축 부가 축을 이용한 6축 수직 다관절로봇의 용접공정효율 증대를 위한 연구)

  • Hong, Jun-Rak;Jo, Hyeon-Min;Chung, Won-Jee;Park, Seung-Kyu;Noh, Seong-Hoon
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.16 no.6
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    • pp.55-62
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    • 2017

  • This paper aims to realize additional axes, which increase the processing efficiency of a robot by controlling in harmful environments. Ultimately, this is to create time and energy savings in industrial sites with 6-axis articulated welding robots (RS2). Using $RecurDyn^{(R)}$ a simulation technique is applied. The motion paths of the welding rod are compared for two cases in order to verify the necessity of the additional axes: 1) when there are no additional axes and 2) when there are additional axes during welding using the RS2. For this purpose, the angle variations of the RS2 axes required for the simulation are compared, on the assumption that each of the four points of the welding bed installed on the additional axes of the welding rod in $Solidworks^{(R)}$ is point-welded. Then, actual additional axes equipment is grafted on to the RS2 and the process times compared using $LabVIEW^{(R)}$.

  • https://doi.org/10.14775/ksmpe.2017.16.6.055 인용 PDF KSCI

A Study on Gain Scheduling Programming with the Fuzzy Logic Controller of a 6-axis Articulated Robot using LabVIEW® (LabVIEW®를 이용한 6축 수직 다관절 로봇의 퍼지 로직이 적용된 게인 스케줄링 프로그래밍에 관한 연구)

  • Kang, Seok-Jeong;Chung, Won-Jee;Park, Seung-Kyu;Noe, Sung Hun
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.16 no.4
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    • pp.113-118
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    • 2017

  • As the demand for industrial robots and Automated Guided Vehicles (AGVs) increases, higher performance is also required from them. Fuzzy controllers, as part of an intelligent control system, are a direct control method that leverages human knowledge and experience to easily control highly nonlinear, uncertain, and complex systems. This paper uses a $LabVIEW^{(R)}-based$ fuzzy controller with gain scheduling to demonstrate better performance than one could obtain with a fuzzy controller alone. First, the work area was set based on forward kinematics and inverse kinematics programs. Next, $LabVIEW^{(R)}$ was used to configure the fuzzy controller and perform the gain scheduling. Finally, the proposed fuzzy gain scheduling controller was compared with to controllers without gain scheduling.

  • https://doi.org/10.14775/ksmpe.2017.16.4.113 인용 PDF KSCI