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이준석;최재성;강경수;곽윤근;김수현
- Proceedings of the Korean Society of Precision Engineering Conference
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- 2004.05a
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- pp.154-154
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- 2004
초기 직경이 500$\mu\textrm{m}$인 텅스텐 봉을 전해에칭을 통하여 끝단 직경이 수 $\mu\textrm{m}$인 텅스텐 팁으로 가공하였다. 그리고, 적절한 전처리 과정을 거친 다증벽 탄소나노튜브를 제작된 텅스텐 팁 끝에 적절한 매니퓰레이션을 통하여 부착하였다. 이렇게 제작된 나노 팁(텅스텐 팁과 탄소나노튜브로 구성)은 매우 긴 탄소나노튜브의 길이 때문에 나노 팁으로 사용하기에 부적절한 경우가 많다. 즉, 나노 그리퍼로서 사용하기에는 적합하지 않은 경우가 있다. 이러한 점을 극복하기 위하여 전해에칭을 이용하여 나노 팁의 길이를 나노 그리퍼로 사용하기에 적합하도록 조절하였다.(중략)
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Choi, Chang-Hwan;Jeon, Pung-Woo;Choi, Yong-Je;Jeong, Seung-Ho;Kim, Seung-Ho
- Proceedings of the KSME Conference
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- 2004.04a
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- pp.816-821
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- 2004
The outlet feeder pipe thinning in a PHWR (Pressured Heavy Water Reactor) is caused by high pressure steam flow inside the pipe, which is a well known degradation mechanism called FAC (Flow Assisted Corrosion). In order to monitor the degradation, the thickness of the outlet bends closed to the exit of the pressure tube should be measured and analyzed at every official overhaul. This paper develops an automatic feeder pipe inspection system that can minimize the irradiation dose by automating the measurement process. The robot can move by itself on the feeder pipe by using an inch worm mechanism, which is constructed by two gripper bodies that can fix their body on the pipe and one extendable and retractable body connected the two gripper bodies to move forward and backward.
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Gi-Seong Kim;Sung-Hun Jeong;Shi-Baek Park;Han-Sung Kim
- Journal of the Korean Society of Industry Convergence
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- v.26 no.4_1
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- pp.545-551
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- 2023
In this paper, a robot automation methodology for chemical drum assembly in semiconductor industries are presented. Robot automation is essential to resolve safety issues in which operators are directly or indirectly exposed to chemicals or fumes in assembling dispense heads on chemical drums. However, the chemical drum assembling process involves complex and difficult tasks, such as mating male/female keycodes and fastening screws with large-diameter, which may be very difficult to be performed by a single-arm robot with a commercial rigid F/T sensor. In order to solve the problems, a method for assembling a chemical drum using dual-arm collaborative robot system, compliance F/T sensor, robot vision and gripper is presented.
https://doi.org/10.21289/KSIC.2023.26.4.545 인용 PDF HTML

Nguyen, Quoc-Hung;Oh, Jong-Seok;Choi, Seung-Bok
- Transactions of the Korean Society for Noise and Vibration Engineering
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- v.22 no.5
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- pp.459-467
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- 2012
In this work, the configuration of a haptic gripper featuring magnetorheological(MR) brakes is proposed and an optimal design of the MR brakes for the haptic griper is performed considering the required braking torque, the uncontrollable torque(zero-field friction torque) and mass of the brakes. Several configurations of MR brake is proposed such as disc-type, serpentine-type and hybrid-type. After the configurations of the MR brakes are proposed, braking torque of the brakes is analyzed based on Bingham rheological model of the MR fluid. The zero-field friction torque of the MR brakes is also analyzed. An optimization procedure based on finite element analysis integrated with an optimization toolbox is developed for the MR brakes. The purpose of the optimal design is to find optimal geometric dimensions of the MR brake structure that can produce the required braking torque and minimize the mass of the MR brakes. In addition, the uncontrollable torque of the MR brakes is constrained to be much smaller than the required braking torque. Based on the developed optimization procedure, optimal solution of the proposed MR brakes are achieved and the best MR brake is determined. The working performance of the optimized MR brake is then investigated.
https://doi.org/10.5050/KSNVE.2012.22.5.459 인용 PDF KSCI