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Ahn, Kuk-Hyun;Song, Jae-Bok
- The Journal of Korea Robotics Society
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- v.12 no.1
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- pp.11-18
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- 2017
Static balance of an articulated robot arm at various configurations requires a torque compensating for the gravitational torque of each joint due to the robot mass. Such compensation torque can be provided by a spring-based counterbalance mechanism. However, simple installation of a counterbalance mechanism at each pitch joint does not work because the gravitational torque at each joint is dependent on other joints. In this paper, a 6 DOF industrial robot arm based on the parallelogram for multi-DOF counterbalancing is proposed to cope with this problem. Two passive counterbalance mechanisms are applied to pitch joints, which reduces the required torque at each joint by compensating the gravitational torque. The performance of this mechanism is evaluated experimentally.
https://doi.org/10.7746/jkros.2017.12.1.01 인용 PDF KSCI

임태균;조형석
- 제어로봇시스템학회:학술대회논문집
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- 1988.10a
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- pp.534-539
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- 1988
This paper presents a method to balance the links of an articulated robot for an unknown payload using an automatic balancing mechanism. The balancing masses are controlled to move in their appropriate locations so that the joint torques of the links are eliminated. After balancing the mass of the payload is obtained from the balancing conditions. Based upon a series of simulation studies some results are discussed.
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이민기
- Transactions of the Korean Society of Mechanical Engineers
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- v.19 no.1
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- pp.22-37
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- 1995
Industrial robot has played a central role in the production automation such as welding, assembling, and painting. There has been, however, little effort to the application of robots in machining work(grinding, cutting, milling, etc.) which is typical 3D work. The machining automation requires a high stiffness robot arm to reduce deformation and vibration. Conventional articulated robots have serially connecting links from the base to the gripper. So, they have very weak structure for he machining work. Stewart Platform is a typical parallel robotic mechanism with a very high stiffness but it has a small work space and a large installation space. This research proposes a new machining robot arm with a double parallel mechanism. It is composed of two platforms and a central axis. The central axis will connect the motions between the first and the second platforms. Therefore, the robot has a large range of work space as well as a high stiffness. This paper will introduce the machining work using the robot and design the proposed robot arm.
https://doi.org/10.22634/KSME.1995.19.1.22 인용 PDF

Kim, Seong-Bhn;Chung, Won-Jee;Kim, Hyo-Gon
- Journal of the Korean Society of Manufacturing Technology Engineers
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- v.24 no.3
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- pp.327-333
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- 2015
As industrial robots come into wider use, their control techniques are being developed along with enhancements in their performance. Specially, the dynamic performance of a 6-axis articulated industrial robot is greatly changed according to the position and orientation of the robot. This means that the PI parameter tuning of the robot and orientation of the robot. This mconsidering the dynamic characteristics of robot mechanism. In this study, $LabView^{(R)}$ programming was applied to automatically conduct parameter scheduling for various robot motions. Using forward and inverse kinematics of RS2, we can divide the working envelope of RS2 into 24 subspaces. We then conduct the gain-tuning according to each subspace. Finally, we program the actual gain scheduling, in which the optimized gain-tuning for each subspace to be passed should be changed for various robot motions using $LabView^{(R)}$.
https://doi.org/10.7735/ksmte.2015.24.3.327 인용 PDF KSCI

Itoh, Masahiko
- 제어로봇시스템학회:학술대회논문집
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- 2002.10a
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- pp.50.2-50
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- 2002
1. Introduction 2. Reduced-Order Model of Robot System 3. Model-Based Control 4. Simulation Results 5. Experimental Results and Considerations 6. Conclusions
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