• 한국공작기계학회논문집
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• 제16권6호
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• pp.187-192
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• 2007

In this paper we present a 3-DOF manipulator of which task is to unload the product from a micro factory. The micro factory developed by KITECH presses sheet metal to produce a micro valve that is used for micro pump. Our research is focused on the development of a small-sized unloading manipulator which works in the narrow workspace between the dies. We have implemented pick-and-place task with vacuum pressure and 3-DOF motion with stepping motors. We present the design procedures and analysis required in each module.

• 대한기계학회논문집A
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• 제31권4호
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• pp.441-450
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• 2007

In this study, a 3-DOF XYZ micro parallel manipulator utilizing compliance mechanism is developed and analyzed. In so doing, a matrix method is used to rapidly solve displacements of the designed kinematic structure, and then kinematic characteristics of the developed manipulator are analyzed. Finally, the design analysis of the kinematic characteristics by changing hinge thickness and structure to improve workspace and translation motion is performed to show that the performance of the developed manipulator is relatively superior to the other similar kind of manipulators.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.289-290
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• 2011

• International Journal of Control, Automation, and Systems
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• 제3권3호
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• pp.461-468
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• 2005

This paper proposes a wheel-assembly automation system, which assembles a wheel into a hub of a vehicle hung to a moving hanger in a car manufacturing line. A macro-micro manipulator control strategy is introduced to increase the system bandwidth and tracking accuracy to ensure insertion tolerance. A camera is equipped at the newly designed wheel gripper, which is attached at the center of the end-effector of the macro-micro manipulator and is used to measure position error of the hub of the vehicle in real time. The redundancy problem in the macro-micro manipulator is solved without complicated calculation by assigning proper functions to each part so that the macro part tracks the velocity error while the micro part regulates the fine position error. Experimental results indicate that tracking error satisfies the insertion tolerance of assembly $({\pm}1mm)$, and thus it is verified that the proposed system can be applied to the wheel assembly task on a moving hanger in the manufacturing line.

• 한국생산제조학회지
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• 제20권3호
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• pp.322-328
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• 2011

This paper presents inverse kinematics and workspace analysis of a planar three degree-of-freedom (DOF) parallel manipulator. Furthermore, optimization problem of the manipulator is presented. The manipulator adopts PRR (Prismatic-Revolute-Revolute) mechanism and the prismatic actuators are fixed to the base. This leads to a reduction of the inertia of the moving links and hence enables it to move with high speed. The actuators are linear electric motors. First, the mechanism based on the geometry of the manipulator is introduced. Second, a workspace analysis is performed. Finally, design optimization is carried out to have large workspace. The proposed approach can be applied to the design optimization of various three DOF parallel manipulators in order to maximize their workspace. The performance of mechanism is improved and satisfies the requirements of workspace to align micro-components.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1631-1634
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• 1997

Since surgery is usually a difficult task because of physiological tremor, eye strain, and tremor, contagious and radioactive hazard, it is necessary to develop micro-surgery telerobotic system using improved tools suitable for their specific tasks. Nowadays the growth of interest on microsurgery and medical applications of robotics has been so rapid. But the medical robots are only practical applications of the industrial robots. This paper identifies five general areas of advanced microsurgery based on the current technological background and expertise, and analyzes the motion, tool and accuracy with respect to microsurgery task, and proposed the criteria to evaluate micro-surgical manipulator. The analysis of microusrgery can be heplful to clarify some basic concept and design of micro-surgical manipulators. With these data we will alos propose an efficient in-parallel-platform manipulator having special kinematic structrue structure suitable for microsurgery.

• 전자공학회논문지B
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• 제31B권4호
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• pp.40-47
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• 1994

In this paper, Micro-Genetic algorithms($\mu$-GAs) is proposed on a minimum-time path planning for robot manipulator. which is a kind of optimization algorithm. The minimum-time path planning, which can allow the robot system to perform the demanded tasks with a minimum execution time, may be of consequence to improve the productivity. But most of the methods proposed till now suffers from a significant computation burden and can`t often find the optimaul values. One way to overcome such difficulties is to apply the Micro-Genetic Algorithms, which can allow to find the optimul values, to the minimum-time problem. This paper propose an approach for solving the minimum-time path planning by using Micro-Genetic Algorithms. The effectiveness of the proposed method is demonstrated using the 2 d.o.f plannar Robot manipulator.

• 대한전기학회논문지:전기물성ㆍ응용부문C
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• 제50권3호
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• pp.136-143
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• 2001

A micro particle manipulator, which is devised for trapping particles at fixed positions by negative dielectrophoretic force (DEP force), has been fabricated and experimented. It is composed of square type electrode arrays fabricated by nickel electroplating with the height of 28 ${\mu}m$. To improve the quality of electroplated nickel electrodes, plating conditions have been optimized. Micro particles used in this study are polystyrene spheres and their to the specific position and trapped. The DEP force along the moving path of the particles has been estimated by the motion equation of a single particle. The displacement of a particle with an elapsed time was measured using a high-speed camera (1000 frames/sec). The velocity and acceleration of the particle were calculated from the measured data. The DEP force acting on the particle was estimated.

• 로봇학회논문지
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• 제2권1호
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• pp.64-70
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• 2007

In this paper, a robotic system which consists of a precision manipulator and a micro gripper for a micro system assembly is presented. By the experiment, we proved that the developed the system gives acceptable performance when minute operations. Developed the micro-nano robot is actuated by newly proposed modular revolute and prismatic actuators. As an end-effector of this system, micro gripper is designed and fabricated with MEMS technology and the displacement of jaw is up to 142.8 micro meter. We think that new robot system will be appropriate for micro system assembly tasks and life science application.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.698-702
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• 1992

In this paper, Micro-Genetic algorithms(.mu.-GAs) is proposed on a minimum-time path planning for robot manipulator, which is a kind of optimization algorithm. The minimum-time path planning, which can allow the robot system to perform the demanded tasks with a minimum execution time, may be of consequence to improve the productivity. But most of the methods proposed till now suffers from a significant computation burden and can't often find the optimal values. One way to overcome such difficulties is to apply the Micro-Genetic Algorithms, which can allow to find the optimal values, to the minimum-time problem. This paper propose an approach for solving the minimum-time path planning by using Micro-Genetic Algorithms. The effectiveness of the proposed method is demonstrated using the 2 d.o.f plannar Robot manipulator.