• 산업공학
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• 제3권2호
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• pp.23-38
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• 1990

The use of robots for painting operations is a powerful alternative as a means for automation and quality improvement. A typical method being used for motion planning of the painting robot is to guide the robot along the desired path : the "lead-through" method. Although this method is simple and has been widely used, it has several drawbacks a) The robot cannot be used during the teaching period, b) A human is exposed to a hostile environment, c) The motions taught are, at best, human's skill level. To deal with the above problems, an integrated robot-trajectory planning scheme is presented. The new scheme takes CAD data describing the shape and geometry of the objects, and outputs an optimal trajectory in the sense of coating thickness and painting time. The purpose of this paper is to investigate theoretical backgrounds for such a scheme including geometric modeling, painting mechanics and robot trajectory planning, and develop algorithms for generating spray gun paths and minimum-time robot trajectories. Future study is to implement these algorithms on an workstation to develop an integrated software system ; ATPS(Automatic Trajectory Planning System) for spray painting robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.394-399
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• 1990

We develop an automatic trajectory planning system (ATPS) for painting robots by proposing a new trajectory planning scheme. The new scheme considers geometric modeling, painting mechanics, and robot dynamics to output an optimal trajectory (in the sense of coating thickness and painting time) based on the CAD data describing the shape of objects, The new scheme is implemented in SUN/4 workstation to develop an ATPS for painting robots. To test the validity of the new scheme and to illustrate the developed system, numerous runs are performed and analyzed.

• 한국산학기술학회논문지
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• 제12권12호
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• pp.5450-5456
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• 2011

선박을 건조하는 수많은 공정 중에서 화물창 내의 도장작업은 대부분 고공에서의 작업뿐만 아니라 밀폐된 탱크 내에서 작업을 하는 경우가 많기 때문에 항상 사고의 위험에 노출되어 있다. 이러한 문제를 해결하는 방법으로 진공 펌프와 로봇에 장착된 흡착판을 이용하여 로봇을 벽면에 부착하는 방법이 개발되어져 왔다. 하지만 이러한 방법들은 다양한 재질의 벽면에 적용이 가능하다는 장점이 있는 반면에 흡착판이 고착된 상태에서 이동하기 힘들다는 것과 부착을 위해 부가장비와 그에 따른 제어가 요구된다는 단점이 있다. 이러한 단점을 보완하기 위해 본 논문에서는 자석의 성질을 이용하여 선체의 평면, 수직면까지 매달린 채도 이동가능한 자석대차를 이용한 자동 도장 로봇장치를 제안한다. 또한 시제작품을 제작하여 성능 실험을 위해 자석바퀴 부착력, 대차부착력, 견인력 및 자동주행실험을 하였다.

• Journal of Mechanical Science and Technology
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• 제19권6호
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• pp.1268-1279
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• 2005

The current method for pavement sign marking operations is labor-intensive and very dangerous due to the exposure of workers to passing traffic. It also requires blocking traffic for a long period of time resulting serious traffic jam. This paper deals with the development of a robotic system for automating the pavement sign painting operations. The robotic system consists of gantry frame equipped with transverse drive rail and automatic paint spray system. The workspace of the gantry robot is extended to one-lane width with the transverse rail system. This research also includes the development of font data structures that contain the shape information of pavement signs, such as Korean letters, English letters and symbols. The robot path is generated with this font data through the procedures of scaling up/down and partitioning the signs to be painted depending on the workspace size.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.160-163
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• 1993

In this paper, design of an automatic grinding robot system for car brazing bead is introduced. Car roof and side panels are joined using brazing, and then the brazing bead is processed so that the bead is invisible after painting. Up to now the grinding process is accomplished manually. The difficulties in automation of the grinding process are induced by variation of position and shape of the bead and non-uniformity of the grinding area due to surface deformation. For each car, the grinding area including the brazing bead is sensed and then modeled using a 2-D optical sensor system. Using these model data, the position and the direction of discrete points on the car, body surface are obtained to produce grinding path for a 6 degrees of freedom grinding robot. During the process, it is necessary to sense the reaction forces continuously to prepare for the unexpected circumstances. In addition, to meet the line cycle time it is necessary to reduce the required time in sensing, signal processing, modeling, path planning and data transfer by utilizing real-time communication of the information. The key technique in the communication and integration of the complex information is obtaining in-field reliability. This automatic grinding robot system may be regarded as a jump in the intelligent robot processing technique.

• 한국정밀공학회지
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• 제29권1호
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• pp.56-63
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• 2012

Due to the development of construction technology, there is a considerable increase in the number of skyscrapers in the world. Accordingly, there are rapid growing requests about maintenance systems such as cleaning, painting, and monitoring the processes of facade in highrise buildings. However, it is extremely dangerous working the walls of high-rise buildings, and crashes from buildings have accounted for large proportion of constructional accidents. An alternative solution must be developed with the commercialization of automatic robot systems. For the last decade, interest in developing robots for cleaning and maintenance in facade of highrise buildings has continuously increased. The use of automatic robot systems can be expected to reduce accidents and decrease labor costs. In this paper, we propose a new kind of cleaning mechanism. We have designed and manufactured various cleaning tools for different types of facades with economic commercialization. The cleaning cycle, size, and intensity will be determined by economic constraints as well. The final goals are to design and manufacture tools and robots that can clean facades efficiently and rapidly even in dangerous places. The cleaning tool systems consist of nozzles, brush rollers, and squeezing devices. Furthermore, these tools and robots perform each process utilizing the systems of built-in guide types and gondola types for building maintenance. The performance of the proposed cleaning tools is evaluated experimentally; however additional study should be necessary for safer and more stable commercialization.

• 대한안전경영과학회지
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• 제21권3호
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• pp.23-27
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• 2019

The first aim of the study is to improve the productivity by uniformizing the thickness of coating and reducing quality-inspection time. The second aim is to cut down on the raw materials for coating by prevent the waste of spraying in the air during a painting process through a real-time coating-size-recognition monitering to fit the target components. To achieve the two aims, a simplified version of automatic coating control system for recognition of coating for vessels and Spray. With the sytem, following effects are expected: First, quality improvement will be achieved by uniformizing the film-thickness. Second, it will reduce the waste of coating paint by constructing the speed of the coating, the spray gun robot transfer time, and the number of DBs according to the size of the vessel. Third, as a 3D industry, it will be able to solve the difficulty of supply of labors and save up the labor costs. Therefore, in the future, further research will be needed to be applied to various products with DB design that designates the variable value, which is added for each type of pieces by comparing the difference between various types of workpieces and linear ones.

• 한국정밀공학회지
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• 제30권4호
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• pp.390-396
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• 2013

Due to the development of technology, there is a considerable increase in the number of skyscrapers in the world. Accordingly, there are rapid growing requests about maintenances such as cleaning, painting, and inspection. However, it is extremely dangerous working the walls of buildings, and crashes from buildings have accounted for large proportion of constructional accidents. Especially, as the number of buildings with irregular shapes increases, the accident rate during the maintenance work increases each year, and most of the accidents lead to death. An alternative solution must be developed with the commercialization of automatic systems. In this research, a fundamental research has been conducted for drafting and commercializing an automation tool that is carried in the built-in guide system, which can perform cleaning.

• 대한기계학회논문집A
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• 제37권6호
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• pp.815-820
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• 2013

고층 건물 외벽의 유지보수작업은 매우 위험하며 건설부분 산업재해에서 추락이 상당부분을 차지하고 있다. 국내에서 수행되는 고층 건물 외벽의 유지보수작업은 재래식 로프와 곤돌라를 이용한 방법이 대부분이며, 이는 잦은 안전사고의 발생과 생산성 저하의 원인이 된다. 특히 비정형 형태의 고층 건물이 증가함에 따라 외벽 유지보수작업의 안전사고율이 매년 증가하고 있으며 사고의 상당부분이 사망으로 이어지고 있다. 이와 같은 산업재해와 숙련공의 노령화는 향후 건설인력수급의 불균형을 초래할 것으로 예상된다. 이에 대한 해결책으로 건설 산업의 자동화가 필수적이다. 고층 건물 외벽 유지보수의 자동화는 산업재해의 감소와 비용의 절감을 기대할 수 있다. 본 연구에서는 빌트-인 가이드 방식의 로봇시스템에 탑재되어 청소를 수행할 수 있는 자동화 기구를 기안하고 상용화를 위한 연구를 수행하였다.