• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.10
• /
• pp.1069-1077
• /
• 2013

These days, the interest of high speed robotic system is increasing because it is very important to get the cost-competitiveness. The parallel kinematic mechanism is more useful than the serial kinematic mechanism. For the reason, the researches on the parallel robot system as a high speed robotic one are have been done by many researchers. In this paper, the research on the design and analysis of the high speed parallel robot has been done by the authors. First, Basic robot structure is designed and modal analysis is studied to get the basic characteristics of the vibrational motion. Second, the harmonic analysis is studied to get the information of the natural frequency in some different designs of the outer-arm of the parallel robot. Finally, actual robot system is designed and implemented and it is confirmed that the analysis results coincide with the experimental results.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.12
• /
• pp.1223-1232
• /
• 2004

We present a new technique to the design and real-time implementation of fuzzy control system basedon digital signal processors in order to improve the precision and robustness for system of industrial robot in this paper. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C80 is used in implementing real time fuzzy control to provide an enhanced motion control for robot manipulators. In this paper, a Self-Organizing Fuzzy Controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variables of the controller. In the synthesis of a Fuzzy Logic Controller, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult Self-Organizing Fuzzy Controller is proposed for a hierarchical control structure consisting of basic and high levels that modify control rules. The proposed Self-Organizing Fuzzy Controller scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for a Dual-Arm robot with eight joints.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2004.10a
• /
• pp.187-192
• /
• 2004

In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.35 no.1
• /
• pp.68-72
• /
• 2015

Ultrasonic inspection robot systems have been widely researched and developed for the real-time monitoring of structures such as power plants. However, an inspection robot that is operated in a simple pattern has limitations in its application to various structures in a plant facility because of the diverse and complicated shapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objects with high-precision results. This paper presents the idea that the shape and movement information of an ultrasonic inspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensor was applied to monitor the shape of a human hand. This application was designed to intuitively control an ultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors. Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of a human hand estimated using polymer flex sensors.

• The korean journal of orthodontics
• /
• v.34 no.3 s.104
• /
• pp.219-227
• /
• 2004

The purpose of this study was to evaluate the spatial changes of mesial-in rotated maxillary molar and opposite anchor tooth during derotation by the precision transpalatal arch (TPA) with the use of a new typodont simulation system, the Calorific machine system, which was designed to observe the whole process of tooth movement. The maxillary right first molar was used for the anchor tooth and the maxillary left first molar was used for the mesial-in rotated tooth, and the angle of rotation was increased to 20,40, and 60. A passive precision TPA was fabricated and then activated by bending the left arm to 20, 40, and 60. Each experiment was repeated five times under the same conditions and analyzed by ANOVA and Tucky's Studentized Range (HSD) test. In the occlusal plane, when the bending angle of precision TPA was increased, the mesiobuccal cusp of the rotated molar moved more buccally (p<0.001) and less distally (p<0.001) while the distolingual cusp moved in the mesiopalatal direction. In the sagittal plane, the palatal roots of the derotated molar moved mesially (p<0.001). In the traverse plane, the derotated molar showed slight extrusion (p<0.001). The upper right first molar, which was used as an anchor tooth, showed clinically insignificant movement across all three planes.

• Journal of the Korean Society for Precision Engineering
• /
• v.22 no.12 s.177
• /
• pp.108-116
• /
• 2005

Transplanting accuracy of a rice transplanter mainly depends on the trajectory of the hoe for picking, conveying and transplanting of seedlings as well as the return motion. The trajectory can be decided and prescribed to be suitable in treating seedlings fur a prevailing soil condition. For the purpose of the transplanting accuracy, the design of a transplanting mechanism would be carried out using a planetary-gear-train system instead of the four bar linkage system. In this study, a design method of transplanting mechanism is theoretically proposed by synthesizing a noncircular planetary-gear-train system fur the tool (hoe) to trace a prescribed trajectory. The method utilizes an optimization approach to decide the lengths of an arm and a tool, the inverse kinematics to figure out the configuration angles of the two links, the roll contact condition in transmitting motion between the gears, and a linearization approach to obtain the shapes of the gears. Based on the proposed method, the shapes of the gears and the lengths of the tools of the planetary-gear-train system are determined fur three prescribed trajectories. A kinematical simulation with a commercialized package program is also carried out to confirm that the gear-train system synthesized with the proposed method is able to trace the prescribed trajectory.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.690-693
• /
• 2005

In this paper, probabilistic distribution of fatigue life of chassis component is determined statistically by applying the design of experiments and the Pearson system. To construct $p-\varepsilon-N$ curve, the case that fatigue data are random variables is attempted. Probabilistic density function(p.d.f) for fatigue life is obtained by design of experiment and using this p.d.f fatigue reliability about any aimed fatigue life can be calculated. Lower control arm and rear torsion bar of chassis component are selected as examples for analysis. Component load histories, which are obtained by multi-body dynamic simulation for Belsian load history, are used. Finite element analysis are performed using commercial software MSC Nastran and fatigue analysis are performed using FE Fatigue. When strain-life curve itself is random variable, probability density function of fatigue life has very little difference from log-normal distribution. And the case of fatigue data are random variables, probability density functions are approximated to Beta distribution. Each p.d.f is verified by Monte-Carlo simulation.

• Journal of the Korean Society for Precision Engineering
• /
• v.21 no.10
• /
• pp.86-93
• /
• 2004

This paper presents the remote measurement of the ECU signals adopted with KWP 2000 protocol using the wireless communication technique of bluetooth. The bluetooth technology will be the most promising network paradigm which can open the new area in the information technology. Especially, bluetooth module is able to link all the electrical products and personal computers to cellular phone or PDA. This research has a try to design a wireless measurement model of ECU signal based on the car telemery system using bluetooth device. In order to measure the ECU signals, we designed the interface circuits which is able to communicate between the ECU system and the terminal circuits according to the ISO, SAE regulation of communication protocol standard. A microprocessor S3c341 OX is used for the system control and communication of ECU signals. The embedded system software is programmed to measure the ECU signals using the ARM compiler and ANCI C based on Micro/OS-II kernel to communicate between two bluetooth modules using bluetooth stack. The remote measurement of ECU signals using the bluetooth was designed and implemented to evaluate the performance of wireless network to the transmit measurement data. The possibility for the remote measurement of the self diagnosis signals of ECU adopted with KWP2000 protocol verified through the developed systems and algorithms in embedded system.

• Journal of the Korean Society for Precision Engineering
• /
• v.24 no.2 s.191
• /
• pp.110-117
• /
• 2007

In this paper, probabilistic distribution of chassis component fatigue life is determined statistically by applying the design of experiments and the Pearson system. To construct p - ${\varepsilon}$ - N curve, the case that fatigue data are random variables is attempted. Probabilistic density function (p.d.f) for fatigue life is obtained by the design of experiment and using this p.d.f fatigue reliability, any aimed fatigue life can be calculated. Lower control arm and rear torsion bar of chassis components are selected as examples for analysis. Component load histories which are obtained by multi-body dynamic simulation for Belsian load history are used. Finite element analysis is performed by using commercial software MSC Nastran and fatigue analysis is performed by using FE Fatigue. When strain-life curve itself is random variable, the probability density function of fatigue life has very little difference from log-normal distribution. And the cases of fatigue data are random variables, probability density functions are approximated to Beta distribution. Each p.d.f is verified by Monte-Carlo simulation.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.4
• /
• pp.202-208
• /
• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous assembly tasks using hydraulic manipulators. In this report, we applied a compliance control which is based on the position control by a disturbance observer for our manipulator system. And a reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and position of environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.