• 제목/요약/키워드: Robot Design

검색결과 2,383건 처리시간 0.038초

로봇디자인에 대한 선호 반응에 영향을 미치는 조형요소의 특성 (The Property of Formative Factor Influencing Preference on Robot's Design)

  • 정정필;허성철
    • 한국감성과학회:학술대회논문집
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    • 한국감성과학회 2008년도 추계학술대회
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    • pp.38-41
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    • 2008
  • This study's basic intention is to analyze property of combination relations of formative element composing robot' s face based on a result of preference response on robot's design. Also, in order to improve preference from the analysis result, the study intended to inquire into possibilities of suggesting design guideline. For the above, photographs of 27 robots' faces were selected as a experimental stimuli, and experiments on preference response and association response were performed. As a result, various properties such as robots' form of eyes having greater influences than facial structure, etc. Based on the result, each formative element's property that could have positive influence preference response on robot's face could be drawn and basic design guideline could also be suggested.

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얀센메커니즘을 이용한 로봇 설계 (Design of Robot Using of Jansen Mechanism)

  • 김병진;김현민;이효정
    • EDISON SW 활용 경진대회 논문집
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    • 제5회(2016년)
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    • pp.501-505
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    • 2016
  • In this study, a robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism. Our goal is to finish the given path using given terms. The various programs was used to understand the mechanism in more detail. DISON m.Sketch, EDISON Designer, Theo Jansen Mechanism Optimization Solver. Using these programs, we can design the robot in more dtails and reduce errors and trials. For the design and implementation of a robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.

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비선형 모델 예측 제어를 이용한 차동 구동 로봇의 경로 추종 (Path Tracking with Nonlinear Model Predictive Control for Differential Drive Wheeled Robot)

  • 최재완;이건희;이치범
    • 로봇학회논문지
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    • 제15권3호
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    • pp.277-285
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    • 2020
  • A differential drive wheeled robot is a kind of mobile robot suitable for indoor navigation. Model predictive control is an optimal control technique with various advantages and can achieve excellent performance. One of the main advantages of model predictive control is that it can easily handle constraints. Therefore, it deals with realistic constraints of the mobile robot and achieves admirable performance for trajectory tracking. In addition, the intention of the robot can be properly realized by adjusting the weight of the cost function component. This control technique is applied to the local planner of the navigation component so that the mobile robot can operate in real environment. Using the Robot Operating System (ROS), which has transcendent advantages in robot development, we have ensured that the algorithm works in the simulation and real experiment.

설계모델정보를 이용한 용접로봇 OLP 시스템 구축 사례 (An Establishment Case of Welding Robot OLP System Using 3D Design Model Information)

  • 오성권;최범호;은선호;성창제
    • 대한조선학회 특별논문집
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    • 대한조선학회 2007년도 특별논문집
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    • pp.43-47
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    • 2007
  • In this paper, we will introduce how we utilize 3D design model information at factory automation field with welding robot OLP system which is in using at out shipyard. At this area, so far, most of design information is used in NC data generation for steel cutting, but we can utilize 3D model information at more wide and complex area likes robot welding. Moreover, OpenGL which is a graphic library can be possible to verify robot NC data is correct or not through 3D simulation even if some one is not a expert at robot handling.

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Inertia Space에서 우주 로봇의 적응제어 (Adaptive Control of Space Robot in Inertia Space)

  • 이주장
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1992년도 하계학술대회 논문집 A
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    • pp.381-385
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    • 1992
  • In this paper, dynamic modeling and adaptive control problems for a space robot system are discussed. The space robot consist of a robot manipulator mounted on a free-floating base where no attitude control is applied. Using an extended robot model, the entire space robot can be viewed as an under-actuated robot system. Based on nonlinear control theory, the extended space robot model can then be decomposed into two subsystems: one is input-output exactly linearizable, and the other is unlinearizable and represents an internal dynamics. With this decomposition, a normal form-augmentation approach and an augmented state-feedback control are proposed to facilitate the design of adaptive control for the space robot system against parameter uncertainty, unknown dynamics and unmodeled payload in space applications. We demonstrate that under certain conditions, the entire space robot can be represented as a full-actuated robot system to avoid the inclusion of internal dynamics. Based on the dynamic model, we propose an adaptive control scheme using Cartesian space representation and demonstrate its validity and design procedure by a simulation study.

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동장공정의 로보틱자동화를 위한 설계지원 시스템 (Computer aided design system for robotic painting line)

  • 서석환;조정훈;강대호
    • 한국정밀공학회지
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    • 제11권5호
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    • pp.171-179
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    • 1994
  • For successful implementation of robotic painting system, a structured design and analysis procedure is necessary. In designing robotic system, both functional and economical feasibility should be investigated. As the robotization is complicated task involving implemen- tation details (such as robot selection, accessory design, and spatial layout) together with operation details, the computer aided design and analysis method should be sought. However, conventional robotic design systems and off-line programming systems cannot accommodate these inquiries in a unified fashion. In this research, we develop an interactive design support system for robotization of a cycle painting line. With the developed system called SPRPL (Simulation Package for Robotic Painting Line) users can design the painting objects (via FRAME module), select robot model (ROBOT), design the part hanger (FEEDER), and arrange the workcell. After motion programming (MOTION), the design is evaluated in terms of: a) workpace analysis, b) coating thickness analysis, and c) cycle time (ANALYSIS).

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유전자 알고리즘을 이용한 손목 중공형 6축 수직다관절 로봇의 최적 손목 설계에 관한 연구 (Optimal Wrist Design of Wrist-hollow Type 6-axis Articulated Robot using Genetic Algorithm)

  • 조현민;정원지;배승민;최종갑;김대영;안연주;안희성
    • 한국기계가공학회지
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    • 제18권1호
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    • pp.109-115
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    • 2019
  • In arc-welding applying to the present automobile part manufacturing process, a wrist-hollow type arc welding robot can shorten the welding cycle time, because feedability of a welding wire is not affected by a robot posture and thus facilitates high-quality arc welding, based on stable feeding with no entanglement. In this paper, we will propose the optimization of wrist design for a wrist-hollow type 6-Axis articulated robot. Specifically, we will perform the investigation on the optimized design of inner diameter of hollow arms (Axis 4 and Axis 6) and width of the upper arm by using the simulation of robot motion characteristics, using a Genetic Algorithm (i.e., GA). Our simulations are based on $SolidWorks^{(R)}$ for robot modeling, $MATLAB^{(R)}$ for GA optimization, and $RecurDyn^{(R)}$ for analyzing dynamic characteristics of a robot. Especially $RecurDyn^{(R)}$ is incorporated in the GA module of $MATLAB^{(R)}$ for the optimization process. The results of the simulations will be verified by using $RecurDyn^{(R)}$ to show that the driving torque of each axis of the writs-hollow 6-axis robot with the optimized wrist design should be smaller than the rated output torque of each joint servomotor. Our paper will be a guide for improving the wrist-hollow design by optimizing the wrist shape at a detail design stage when the driving torque of each joint for the wrist-hollow 6-axis robot (to being developed) is not matched with the servomotor specifications.