• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.16-22
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• 2019

Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.

• Journal of the Korean Geosynthetics Society
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• v.22 no.1
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• pp.53-66
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• 2023

In this study, the results of the elasto-plastic beam analysis, finite element analysis and optimization design of the steel pipe sheet pile applied as an earth retaining wall under the deep excavation were presented. Through this study, it was found that the high-strength and sea resistant steel pipe has high allowable stress, excellent structural properties, favorable corrosion, and high utilization as an earth retaining wall, and the C-Y type joint has significantly improved the tensile strength and stiffness compared to the traditional P-P type. In addition, it was investigated that even if the leak or defect of the wall occurs during construction, it has the advantage of being able to be repaired reliably through welding and overlapping. In the case of steel pipe wall, they were evaluated as the best in views of the deep excavation due to the large allowable bending stress and deformation flexibility for the same horizontal displacement than CIP or slurry wall. Elasto-plastic and finite element analysis were conducted in consideration of ground excavation under large-scale earth pressure (uneven pressure), and the results were compared with each other. Quantitative maximum value were found to be similar between the two methods for each item, such as excavation behavior, wall displacement, or member force, and both analysis method were found to be applicable in design for steel pipe sheet pile wall. Finally, it was found that economical design was possible when determining the thinnest filling method with concrete rather than the thickest hollow shape in the same diameter, and the depth (the embedded length through normality evaluation) without rapidly change in displacement and member force.