• Journal of Biosystems Engineering
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• v.25 no.1
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• pp.19-24
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• 2000

This study was carried out to develop gripper which to adaptive variable tray and to develop automatic transplanting system for seedling-production system between tray. This system consisted of five set of gripper and end-effector, a planting-width control unit, a tray transfer unit, and gripper moving device which move gripper between nursing tray and growing tray. This system used push-out rod to grasp plant instead of pull-out end -effector. Several types of fingers, which physically grip seedlings, were also developed and tested to ensure reliable transplanting operation of the gripper. The transplanting system detaches seedlings from a tray with push-o0ut rods, which were installed under the tray transfer unit. The performance of the transplanting system was evaluated by successive transplanting experiments. Using the best type of finger , the transplanting system produced 94.6% of transplanting success rate.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.817-825
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• 2016

In this paper, we introduce a flexible gripper that we have engineered to precisely pinch in parallel and compliantly grasp objects. As found in most conventional industrial grippers, the parallel pinching property is essential for precise manipulation. On the other hand, the grippers with a flexible structure are more adept at grasping objects with arbitrary shapes and softness. To achieve these disparate properties, we introduce a flexible gripper mechanism composed of multiple flexible beam structures. Utilizing these beam structures, the proposed gripper is able to grasp arbitrarily shaped objects. Additionally, a unique combination of flexible beams enables the gripper to pinch objects using the parallel fingertips for enhanced precision. A detailed description of the proposed mechanism is provided, and an analysis of the strength and stiffness of the fingertip and finger body is presented. The Results section compares the theoretical and experimental analyses and verifies the properties and performance of the proposed gripper.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.2
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• pp.644-652
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• 2018

This paper describes the conceptual design of a customized gripper for the assembly process of IT products, which has a relatively short and regular product replacement cycle. The grippers that are used in the manufacturing field are mostly composed of one to two degrees of freedom and they can only handle one object, not multiple ones. Cost is also an important factor. If it were possible to develop a gripper suitable for the assembly process quickly and easily, some of the difficulties involved in its automation caused by the frequent changes of product and process could be solved. The assembly process utilized for this research is defined and described as the procedure and method of the process analysis due to the confidentiality of the manufacturer. We used an axiomatic design to derive the functional requirements and design parameters of the gripper used for the tablet PC assembly process. We proposed a design method for the conceptual design of the gripper by determining these parameters. For the feasibility study, a specific process was selected and the progress of the gripper design was described as an example. Although there have been studies on the design guidelines for grippers, their considerations are too general and their degree of freedom is too high. This paper defines the function of the gripper based on the assembly process of the IT products, which allows their production to be streamlined and automated. In this research, we attempted to produce a design that reflects the assembly process, not just one that enables objects to be held.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.968-973
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• 1991

Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1328-1331
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• 2003

As rates of gastric cancer. fatness. and GERD (chronic gastric esophageal reflux disease) patients have been increased in the world, suturing mechanism using endoscope has been focused. which is the medical instrument to apply stitches and suturing inside the body, since it helps the patients lessen pains and reduce operation time. This paper deals with mechanism design, which makes it possible to apply multiple suturing without the repeat of inserting and removing the endoscope. This successive suture mechanism includes gripper, linkage, rotational part, and articulation part. Also, the mechanism is operated through 4mm one-side channel attached to the endoscope by means of pulling wires.