• Journal of Biosystems Engineering
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• 제30권5호
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• pp.293-298
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• 2005

The purpose of this study was the development of a multi-joint robot manipulator for milking robot system. The multi-joint robot manipulator was controlled by 5 drivers with driver controller through the position information obtained from the image processing system. The robot manipulator to automatically attach each teat cup to the teats of a milking cow was developed and it's motion was accurately measured with error rate. Results were as follows. 1. Maximum errors in position accuracy were 4mm along X-axis, 4.5mm along Y-axis and 0.9mm along Z-axis. Absolute distance errors were maximum 4.8mm, minimum 2.7mm, and average 3.6mm. 2. Errors of repeatability were maximum 3.0mm along X-axis, 3.0mm along Y-axis, and 0.5mm along Z-axis. Distance error values were maximum 3.2mm, minimum 2.2mm, and average 2.5mm. It is envisaged that multi-joint robot manipulator can be applicate to milking robot system being developed in consideration of the experiment results.

• 한국기계가공학회지
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• 제17권4호
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• pp.47-54
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• 2018

These days, the aerospace industry uses larger machining parts and assembly parts than those in the past. The assembly machines also show the same trend. This study is concerned with the alignment measuring apparatus for the B-axis of a separated multi-axis machine. The alignment measuring apparatus is widely installed for assembly machines in the aircraft assembly process. The alignment measuring apparatus consists of a swivel part and a measuring part. This is a new conceptual idea under patent. All elements of the alignment measuring apparatus are analyzed with the FEM. The analyzed result shows that the alignment measuring apparatus is high in accuracy with stability and steady deformation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.311-312
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• 2012

• 한국정밀공학회지
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• 제32권11호
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• pp.983-988
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• 2015

This paper details a new ultra-precise turning method for increasing surface quality, "Multi Point B Axis Control Method." Machined surface error is minimized by the compensation machining process, but the process leaves residual chip marks and surface roughness. This phenomenon is unavoidable in the diamond turning process using existing machining methods. However, Multi Point B axis control uses a small angle (< $1^{\circ}$) for the unused diamond edge for generation of ultra-fine surfaces; no machining chipping occurs. It is achieved by compensated surface profiling via alignment of the tool radial center on the center of the B axis rotation table. Experimental results show that a diamond turned surface using the Multi Point B axis control method achieved P-V $0.1{\mu}m$ and Ra 1.1nm and these ultra-fine surface qualities are reproducible.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 춘계학술대회 논문집
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• pp.21-26
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• 2004

This research presents a modeling and a manufacturing method of insert type milling cutters such as face cutter, flat endmill and ball endmill. The methods introduced in this paper adopts the multi-tasking 5-axis machining that is increasing machining accuracy of holder and position accuracy of bolting points. So this can be used in the basic document of the total package program that involves modeling and manufacturing module in various insert cutters.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.711-714
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• 2001

As the life cycle of the vehicle become shorter, the method that reduce the development time of new model become more important. In this reason, the development of the simulator that provides similar environment with the actual vehicle road characteristics is increasing. In this paper, the multi-axis simulator is designed and analyzed by kinematic method. The simulator has a function simulating the 3 load elements; vertical, longitudinal, and lateral force respectively and simultaneously. The result of this paper can be used for developing the multi-axis simulator linkage.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1026-1029
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• 2003

There are always some errors in force sensing of multi-axis force sensors that aggravate sensor performance. Error sources may be classified mainly in two groups. One is structural error due to inaccuracy of sensor body, and the other is error due to noise signals existing in the sensed information. This paper presents a brief review about the principle of multi-axis force sensors, and then a method that can reduce the effect of noise signals. The method is to read digital signals in computer instead of analog voltage signals. We can eliminate the bad effect of electromagnetic waves emitted from computer and of 60 Hz noise emitted from AC source by the proposed method. The proposed method is investigated through experimental demonstration. The experimental results show the proposed method improves the sensor performance significantly.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권11호
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• pp.591-598
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• 2000

In this thesis, a digital tracking controller is proposed for multi-axis position control system. Tracking and contouring error exist when the machine tool moves along a trajectory in multi-axis system. The proposed scheme enhances the tracking and contouring performance by reducing the errors. Also, an optimal tracking controller reduces the tracking error by the state feedback and the feedforward compensator reduces the effects of a nonlinear disturbance such as friction or dead zone. The proposed control scheme reduces the contour error which occurred when the tool tracks the reference trajectory. Finally, the performance of the proposed controller is exemplified by some simulations and by applying the real XY servo system.

• 한국산학기술학회논문지
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• 제6권5호
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• pp.412-417
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• 2005

본 논문에서는 PCB의 제작 공정에 있어 기준구멍을 가공하기 위한 다축드릴머신의 PCB와 드릴날 간의 충돌시 힘을 구하여 설계에 반영한다 이는 PCB 가공을 대량생산에 적합하고 정확성을 높이기 위해 PCB용 다축드릴머신을 설계함에 있어 해석결과를 이용하여 안전성확보와 제작단가를 절감할 수 있다.

• 한국정밀공학회지
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• 제21권4호
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• pp.64-71
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• 2004

The growing need for higher precision and productivity in manufacturing industry has lead to an increased interest in computer numerical control (CNC) systems. It is well known fact that the cross-coupling controller (CCC) is an effective method for contouring applications. In this paper, a multi-axis contour error controller (CEC) based on a contour error vector using parametric curve interpolator is introduced. The contour error vector is a vector from the actual tool position to the nearest point on the desired path. The contour error vector is the closest error model to the contour error. The simulation results show that the CEC is more accurate than the conventional CCC for a biaxial motion system. In addition, the experimental results on 3-axis motion system show that the CEC is simply applied to 3-axis motions and contouring accuracy is significantly improved.