• Journal of Biosystems Engineering
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• 제25권1호
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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.

• 제어로봇시스템학회논문지
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• 제22권10호
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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.

• 한국산학기술학회논문지
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• 제19권2호
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• pp.644-652
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• 2018

본 논문은 제품 교체 주기가 비교적 짧고 정기적인 IT 제품의 조립 공정 맞춤형 그리퍼 개념 설계에 관한 내용을 담고 있다. 제조 현장에서 쓰이는 그리퍼는 대부분 1~2 자유도로 간단하게 구성되고 한 번에 다양한 물체가 아닌 정해진 것만 다룬다. 또한 가격이 중요한 비중을 차지한다. 만약 공정에 적합한 그리퍼를 빠르고 쉽게 개발 할 수 있다면 제품 및 공정의 잦은 변경에 따른 자동화의 어려움을 일부 해소할 것으로 기대한다. 연구에 필요한 조립 공정은 재조사의 기밀인 관계로 공정 분석 진행 절차와 방법을 정의하고 기술하였다. 공리적 설계를 이용해 테블릿 PC 조립을 위한 그리퍼의 기능 요구와 설계 파라미터를 도출하였다. 이러한 파라미터를 결정함으로써 그리퍼의 개념 설계가 이루어질 수 있도록 설계 방법을 제안하였다. 타당성 검토를 위해 특정 공정을 선택하고 그리퍼 설계 진행 과정을 예재로 기술하였다. 그리퍼 설계 지침에 관한 연구가 있지만 고려 사항이 너무 일반적이고 아이디어 도출의 자유도가 높은 문제가 있다. 본 논문은 제품 및 자동화 시장이 활성화 된 IT 제품의 조립 공정을 바탕으로 그리퍼의 기능을 정의하였다. 이를 통해 물체를 잡는 것에 그치지 않고 조립 과정을 반영한 설계를 목표로 하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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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.