• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.249-249
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• 2000

This paper introduces a clean mobile robot fur 4th generation LCD cassette, which is guided by optical sensor and position compensation using vision module. The mobile robot for LCD cassette transfer might be controlled by AGV controller which has powerful algorithms. It offers optimum routes to the destination of clean mobile robot by using dynamic dispatch algorithm and MAP data. This clean mobile robot is equipped with 4 axes fork type manipulator providing repeatability accuracy of $\pm$ 0.05mm.

• 반도체디스플레이기술학회지
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• 제16권2호
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• pp.98-105
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• 2017

In the display industry, the residual vibration of the transfer robot can increase the process time and cause the breakage of the glass substrate, which is critical to productivity of display manufacturing. In this paper, the natural frequencies of transfer robot are analyzed by finite element method. On the basis of the analyzed data, we investigated the response characteristics of input shaping control with or without the glass presence on the hand of the transfer robot using MATLAB program, and compared with the current response characteristics of input shaping control applied to the industry. Based on this, we suggest an optimal residual vibration control method for the practical application in display industry.

• 대한기계학회논문집A
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• 제36권7호
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• pp.813-822
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• 2012

LCD 생산라인의 공정 로봇에서 방사되는 비정상 작동 소음은 로봇의 결함 탐지에 사용된다. 이 신호의 장점은 상대적으로 낮은 민감도에 비해 단지 마이크로폰을 이용하여 다수의 결함을 확인할 수 있는 것이다. 결함요소 추출을 위한 웨이브렛 변환(WPT)과 불량의 분류를 위한 인공신경망 회로(ANN)이 본 논문에서 사용되었다. 결과적으로, 비정상 작동 소음이 기계요소의 결함 진단에 효율적으로 사용될 수 있다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.246-249
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• 2005

The TFT-LCD is extensively used from a small watch to a large TV display, and the demand is increasing rapidly. The size of R-LCD glass plate becomes more bigger, and the thickness become more thinner with high demands. As a result natural frequency of the TFT-LCD glass plate becomes more lower. The TFT-LCD glass plate will be moved by robot arm and may receive effect of vibration that occur at transfer. Natural frequency of the TFT-LCD glass plate is increased or decrease according to location that robot arm fixs glass plate. Purpose of a this study is finding support location that optimize the first natural frequency of TFT-LCD glass plate. The size optimization method of ANSYS 8.0 is used as the optimization tool search on the optimal support location of TFT-LCD glass plate. The considered number of support point is from 4 to 9.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2005년도 추계종합학술대회
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• pp.1101-1104
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• 2005

As intelligence of robot is developed, consumer of robot changes by ordinary people. Intelligent service robot is produced to a target of ordinary people. It is risen that need the most service robot business. Among the control mobile robot because using network by real time. Do to appear on mobile phone LCD screen being transmitted image from device that acquire transmit of mobile phone user interface development and real time mobile robot in this study. Use the BREW that is Qualcomm's Mobile platform for mobile phone user interface development. Mobile phone JPEG compression function chooses excellent camera phone and display transmit image which send connection setting screen and mobile robot on LCD screen by real time. At the same time, materialize to make screen that can process button input that can control transfer of robot. Also, Relay Server used to help processing of protocol to control direction of mobile robot.

• 대한기계학회논문집A
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• 제29권3호
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• pp.455-461
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• 2005

This research studied robust design of composite hand for LTR (LCD glass Transfer Robot). $1^{st}$ DOE (Design of Experiment) was conducted to find out vital few Xs. 108 experiments were performed and their results were statistically analyzed. Pareto chart analysis shows that the geometric parameters (height and width of composite beam) are more important than material parameters $(E_{1},\;E_{2})$ or stacking sequence angle. Also, the stacking sequence of mid-layer is more important than that of outer-layer. The main effect plots shows that the maximum deflection of LTR hand is minimized with increasing height, width of beam and layer thickness. $2^{nd}$ DOE was conducted to obtain RSM (Response Surface Method) equation. 25 experiments were conducted. The CCD (Central Composite Design) technique with four factors was used. The coefficient of determination $(R^{2})$ for the calculated RSM equation was 0.989. Optimum design was conducted using the RSM equation. Multi-island genetic algorithm was used to optimum design. Optimum values for beam height, beam width, layer thickness and beam length were 24.9mm, 186.6mnL 0.15mm and 2402.4mm respectively. An approximate value of 0.77mm in deflection was expected to be a maximum under the optimum conditions. Six sigma robust design was conducted to find out guideline for control range of design parameter. To acquire six sigma level reliability, the standard deviation of design parameter should be con trolled within $2{\%}$ of average design value

• 대한기계학회논문집A
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• 제32권5호
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• pp.451-457
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• 2008

Flat Panel Display(FPD) is widely used a video display terminals to consumer products of LCD and PDP. The contamination and damage were affected by using the previous contact conveyor's method. In this paper, it analyzes the FPD deflection to develop the non-contact FPD transfer process using lift force. Each conveyor's equipment is called a horizontal conveyor, vertical conveyor and robot pick-up equipment. As result of an analysis of FPD panel's deflection, a robot pick-up equipment has performed according to under the present conditions like panel's weight and loaded glass to move FPD panel from one place to other places properly. Results of the analysis showed 0.474 mm, 0.424 mm and 1.237 mm. Those values are lower than a predicted optimum values : 2 mm for both horizontal and vertical conveyers; 5 mm for robot pick-up equipment. Therefore, those results verify each equipment have safety and reliability.

• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2009년도 추계학술발표논문집
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• pp.574-577
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• 2009

본 논문은 외판원 문제(TSP: Traveling Salesman Problem)를 이용하여 로봇중심의 FMC(Flexible Manufacturing Cell)에서 반송 로봇의 작업순서를 설계하는 방법을 제시하였다. 이를 위해, 먼저 다수의 설비와 반송 로봇으로 구성된 대표적인 로봇 중심의 FMC를 가상으로 설계한 후, 실험계획법을 이용하여 다양한 조건에서의 주요 반응변수들의 인과관계를 규명하였다. 실험결과, 처리량, 반송로봇의가동률, 그리고 Buffer의 평균 대기 작업물의 수가 주요 반응변수들로 선정되었으며, 이를 기반으로 순서기반 조합최적화 문제인 TSP로 로봇 작업순서를 설계하였다. 제안한 방법과 기존의 방법을 비교하기 위해서 시뮬레이션을 수행 한 결과 제안된 TSP 방법이 기존의 방법 보다 반송 로봇의 교착 (Deadlock) 상태를 방지하여 처리량 등 주요 반응변수들 모두를 향상 시키는 결과를 가져왔다. 더불어,이 방법은 본 연구에서 제시한 FMC 뿐 아니라 반도체나 LCD(Liquid Crystal Display) 생산 공정과 같이 반송 로봇에 의해 구성되어 있는 장치 산업분야에 적용가능하다는 측면에서 큰 효과가 기대된다.