• 한국정밀공학회지
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• 제20권3호
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• pp.202-209
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• 2003

We succeeded to build a cost effective assistance robotic arm with a compact and lightweight body. The robotic arm has three joints, and the tip of robotic arm to install tools consists of a closed link mechanism, which consisted of two actuators and several links. The robotic arm has been made possible by the use of actuators typically used in radio control devices. The controller of the robotic arm consists of a single chip PIC only. The robotic arm has a friendly user interface, as the operators are aged and disabled in most cases. The operator can manipulate the robotic arm by voice commands or by pressing a push button. The robotic arm has been successfully prototyped and tested on an elderly patient to assist with eating. The results of field test were satisfactory.

• Journal of Advanced Marine Engineering and Technology
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• 제32권5호
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• pp.724-729
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• 2008

Umbilical cord blood has been recently considered an attractive potential alternative as a source of stem cell transplantation to curing diseases such as leukemia, cancers, immune disorders. Normally the stored system of the umbilical cord blood specimen is equipped with a computer-controlled robotic arm that enables the samples to locate the identification places in liquid nitrogen tank at regulated temperature as about $-196^{\circ}C$. As the half of robotic arm is in the air and the rest part is submerged in liquid nitrogen, the temperature of robotic arm varies from ambient to liquid nitrogen temperature. In this study the temperature variation of upper part of arm above tank lid was thermally analysed by using the commercial code of Ansys. The result of analysis was that the upper part of robotic arm was seriously frozen due to heat transfer from liquid nitrogen as low as -$120^{\circ}C$. In order to solve the frost problem of robotic arm, small PTFE tube block as resistance material was introduced into the lower part of tank lid instead of the whole stainless steel(SUS) robotic arm. The results showed that the temperature of robotic arm above the lid was higher enough, and this method would be one of the very effective measure to solve the problem.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.277-282
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• 2001

As human-friendly robot techniques improve, the concept of the wearability of robotic arms becomes important. A master arm that detects human arm motion and provides virtual forces to the operator is an embodied concept of a wearable robotic arm. In this study, we design a 7 DOF wearable robotic arm with high joint torques. An operator wearing this robotic arm can move around freely because this robotic arm was designed to have its fixed point at the shoulder part of the operator. The proposed robotic arm uses parallel mechanisms at the shoulder part and the wrist part on the model of the human muscular structure of an upper limb. To reduce the computational load in solving the forward kinematics and to prevent singularity motions of the parallel mechanism, yawing motion of the parallel mechanisms was separated using a slip ling mechanism. The total weight of the proposed robotic arm is about 4 kg. An experimental result of force tracking test for the pneumatic control system and an application example for VR robot are described to show the validity of the robot.

• 로봇학회논문지
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• 제15권2호
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• pp.131-138
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• 2020

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.248-253
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• 1992

In the development of a high speed and light weight manipulator, it is necessary to consider the structural elasticity of a robotic arm. The analysis of the infinite mode dynamic of robotic arm must be performed to obtain the finite mode modelling to achieve the feasible controller design of the robotic arm. The modelling procedure of the robotic arm is also illustrated. The controlled mode of the modelled dynamic can be derived by truncating the higher vibrational mode to result in the low order system for the sampling in the control signal is confined to the higher mode. And it is controlled by the pole assignment which can compensate the unmodelled dynamic effects. The unmodelled dynamic can result in the instability of the controlled system, which is known as spillover. The controller design of the low order system is simulated by the pole assignment and optimal control theory.

• Journal of information and communication convergence engineering
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• 제9권6호
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• pp.743-746
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• 2011

An implementation for surface EMG network analysis and vertical control system of robotic arm is presented in this paper. The transmembranes are simulated by equivalent circuit and cable equation for propagation to be converted to circuit networks. The implementation is realized to be derived from the detecting EMG signal from 3 electrodes, and EMG transmembrane signals of human arm muscles are detected by several surface electrodes, high performance amplifier and filtering, converting analog to digital data and driving a servomotor for spontaneous robotic arm. The system is experimented by monitoring multiple steps vertical control angles corresponding to biceps muscle movement. The experimental results are that the vertical moving control level is measured to around 2 degrees and mean error ranges are lower 5%.

• 로봇학회논문지
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• 제13권2호
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• pp.92-96
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• 2018

In this paper, a soft robotic arm which can prevent impact injury during human-robot interaction is introduced. Two degrees of freedom joint are required to realize free movement of the robotic arm. A robotic joint concept with a single degree of freedom is presented using simple inflatable elements, and then extended to form a robotic joint with two degrees of freedom joint using similar manufacturing methods. The robotic joint with a single degree of freedom has a joint angle of $0^{\circ}$ bending angle when both chamber are inflated at equal pressures and maximum bending angles of $28.4^{\circ}$ and $27.1^{\circ}$ when a single chamber if inflated. The robotic joint with two degrees of freedom also has a bending angle of $0^{\circ}$ in both direction when all three chambers are inflated at equal pressures. When either one or two chambers were pressurized, the robotic joint performed bending towards the uninflated chambers.

• 전자공학회논문지B
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• 제30B권9호
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• pp.36-44
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• 1993

In the development of a high speed and light weight manipulator, it is necessary to consider the flexibility of a robotic arm. The infinite dynamics must be analyzed to obtain the finite mode modeling to achieve the feasible controller design of the robotic arm. The modeling procedures of the flexible robot arm, and natural frequencies and mode shapes by the constrained and unconstrained mode method are illustrated. The transfer function of the robot arm with a payload is also shown. The controller is designed by the pole assignment and optimal control theory to compensate for the unmodelled dynamic effects to the low order system. Also, the pole assignment method involving the harmonic vibration mode is presented through computer simulation.

• Journal of information and communication convergence engineering
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• 제8권5호
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• pp.591-594
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• 2010

Control devices perform various works for us in many areas. The device is being utilized for precision movement of certain object. In as much as control devices are activated by means of motors, motor control is important.[1][2] Generally, servo motors capable of precision control are more frequently used than DC motors. Use of 3 motors allows 3- way movement. Medical controllers for surgical operation require high precision. [3][4][5][6] AX-12, a servo motor can realize various types of movement. AX-12 can be easily manufactured in the form of a robotic arm and has features that MCU and its peripheral circuits are simple. For precision movement, 3 motors can be controlled by use of a single joystick and 2 buttons, with movement angles being adjusted by having preset values in the program changed.[7][8] By virtue of this study, we have realized small precision robotic arm system utilizing single joystick and 2 buttons. This system can control the robotic arm in the direction desired by the user. The system has been designed such that a joystick controls 2 motors with the remaining motor being controlled by a button. Single MCU is tasked with both control and movement.[9] We have shown precision robotic arm system in the Figure contained in the conclusion part and made reference to results of analysis in there. It has also been demonstrated that the system can be utilized in the industry.[8]

• 한국지능시스템학회논문지
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• 제20권6호
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• pp.774-779
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• 2010

본 논문에서는 다양한 서비스를 제공할 수 있는 모바일 매니퓰레이션 시스템에 장착된 로봇 팔과 몸체 메커니즘의 동적 운동 특성을 분석하고자 한다. 이 목적을 위하여 팔 및 몸체 메커니즘의 동특성 요소를 제시하고, 경로 추종 시뮬레이션을 통하여 이러한 요소들의 주요 동향을 확인한다. 또한, 이러한 요소들이 몸통, 어깨 및 팔꿈치 운동에 미치는 영향을 고찰한다. 이러한 분석은 로봇 팔과 몸체 메커니즘을 갖는 모바일 매니퓰레이션 시스템의 효과적인 조작행위를 위하여 유용하게 활용될 수 있을 것으로 기대한다.