• Journal of Biosystems Engineering
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• 제22권3호
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• pp.325-332
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• 1997

The use of a robotic transplanter reduces the labor requirement in the greenhouse by carrying out repetitive tasks in an accurate and reliable manner. The transplanter manipulates seedlings by means of end-effector. The end-effector is designed differently from an industrial robot because it manulates biological seedlings of variable size, shape, position, and orientation. This study was conducted to develop an end-effector of a robotic transplanter for bedding plants. The development of an end-effector included selection of the best finger type for the transplanting operation. The performance of developed end-effector was tested and compared with two different transplanting schemes depending on the leaf-orientation consideration. The end-effector developed in this research reliably handled seedlings during transplanting task. Results showed that the shovel type finger was suitable for transplanting with the damaging seedlings.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.838-843
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• 1991

A telemanipulator that reflects grasping force of the slave gripper to the human operator was implemented in order for manipulation to be more delicate and safe. An industrial robot gripper was used as the slave manipulator. The master manipulator was constructed to make it easy for a human operator to direct the slave and to feel the reflected gripping force. Reflected force was generated by the servomotor of the master. The force signal and position signals of the master and the slave was used to generate driving force signal. Basically position-position type control was used. Miner force feedback is added to improve the performance of the system. Implemented system was tested by colliding two fingers of the slave manipulator, and here switching was used to archive more fast and easy manipulation.

• 대한기계학회논문집
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• 제19권1호
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• pp.22-37
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• 1995

Industrial robot has played a central role in the production automation such as welding, assembling, and painting. There has been, however, little effort to the application of robots in machining work(grinding, cutting, milling, etc.) which is typical 3D work. The machining automation requires a high stiffness robot arm to reduce deformation and vibration. Conventional articulated robots have serially connecting links from the base to the gripper. So, they have very weak structure for he machining work. Stewart Platform is a typical parallel robotic mechanism with a very high stiffness but it has a small work space and a large installation space. This research proposes a new machining robot arm with a double parallel mechanism. It is composed of two platforms and a central axis. The central axis will connect the motions between the first and the second platforms. Therefore, the robot has a large range of work space as well as a high stiffness. This paper will introduce the machining work using the robot and design the proposed robot arm.

• 농업과학연구
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• 제23권2호
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• pp.227-232
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• 1996

육묘상자는 매우 유연하므로 인력에 의존하여 취급하는데는 많은 애로사항이 발생한다. 그러므로 본 연구에서는 육묘상자를 취급하기 위하여 수직축, 수평축를 갖춘 핑거의 로봇 핸드를 개발하였다. 수평축의 길이를 달리하여 육묘상자의 각 지점의 처짐량을 측정하였다 핑거의 수평길이가 250mm 일 때 $540{\times}270mm$의 육묘상자의 처짐량이 15mm이하로 되어 적당하다라고 판단된다. 본 연구에서 사용한 핑거의 움직임에는 LM시스템을 사용하였다. 개발한 로봇 핸드는 충남대학교 농업기계공학과에 기 보유하고 있는 직교좌표형 로봇 본체에 장착하여 성능실험을 실시한 결과 만족할 만한 결과를 얻었다. 앞으로 전용 로봇 본체를 개발하여 실용화 되기를 기대한다.

• Nuclear Engineering and Technology
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• 제56권5호
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• pp.1913-1924
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• 2024

This paper presents the design and operation of an autonomous robot for pyroprocess automation, which requires unique approaches beyond those used in industrial applications to achieve the desired performance. Maintaining an extremely dry atmosphere is crucial to handle various materials, including chloride, and an autonomous system ensures this dry environment. The drying room dehumidifier was carefully selected and designed to generate dry air, and different types of dry air conditioning performance were evaluated, including assessing worker accessibility inside the mock-up to determine the system's feasibility. Containers used for process materials were modified to fit the gripper system of the gantry robot for automation. The loading and unloading of process materials in each equipment were automatically performed to connect the process equipment with the robotic system. The gantry robot primarily operated through macro motion to approach waypoints containing process materials, eliminating the need for precise approach motion. The robot's tapered jaw design allowed it to grasp the target object even with imperfect positioning. Robot motions were programmed using a robot simulator for initial positioning and motion planning, and real accuracy was tested in a mock-up facility using the OPC platform.

• 로봇학회논문지
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• 제4권2호
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• pp.155-162
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• 2009

A main distributing frame(MDF) is an interface unit that is used to connect office equipment cables in a telephone company to subscriber cables. Until now, there is no automated switching system for MDFs in Korea. Manual handling of an MDF has some drawbacks; It is time-consuming, very cumbersome, and expensive. It also makes maintenance hard. An automated main distributing frame system is proposed and commercialized in Japan. In that system, a robot gripper inserts connecting pins into the cross point holes of a matrix board, which reveals several disadvantages in the aspects of space, maintenance, fault tolerance, and economical efficiency. This paper describes a newly developed robotic switch board system for MDFs. In the developed system, switches are placed at the cross point of a matrix board. There is one robot in between two switch units, so one robot deals with two switch units. In the system, positioning the robot, opening and closing switches can be done by using only a pair of motors and a pair of solenoids. The newly developed system is compact in size, reduces cost, and shows high reliability.

• Journal of Biosystems Engineering
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• 제37권1호
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• pp.65-74
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• 2012

Purpose: An autonomous robot was developed for harvesting strawberries cultivated in bench-type systems. Methods: The harvest robot consisted of four main components: an autonomous vehicle, a manipulator with four degrees of freedom (DOF), an end effector with two DOFs, and a color computer vision system. Strawberry detection was performed based on 3D image and distance information obtained from a stereo CCD color camera and a laser device, respectively. Results: In this work, a Cartesian type manipulator system was designed, including an intermediate revolute axis and a double driven arm-based joint axis, so that it could generate collision-free motions during harvesting. A DC servomotor-driven end-effector, consisting of a gripper and a cutter, was designed for gripping and cutting the strawberry stem without damaging the strawberry itself. Real-time position tracking algorithms were developed to detect, recognize, trace, and approach strawberries under natural light conditions. Conclusion: The developed robot system could harvest a strawberry within 7 seconds without damage.

• 한국산업융합학회 논문집
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• 제22권3호
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• pp.337-351
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• 2019

We Proposed a new technology to develop vertical type multi-joint robot system enable to adapt in high temperature environment. The main contents is a new approach to design a vertical type articulated robot with prismatic joint and analysis of thermal for process automation of casting and forging. The proposed robot is suitable to use handling working parts of casting and forging. for the manufacturing process of forging and casting. The reliability is illustrated that the proposed technique is more stable and robust than the conventional system. This study is concerned with an analytical methodology of kinematic computation for 7 DOF manipulators for optimization of forging manufacturing process.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.974-979
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• 1990

The system discussed in this paper is an integrated stand-alone system with the full functional capabilities required of a telerobot system. It is complete with a force-reflecting 6-DOF hand controller, driving a PUMA 560 or 762 robot, with an integrated force-torque sensing wrist sensor and servo-driven parallel jaw gripper. A mix of custom and standard electronics, distributed computers and microprocessors, with embedded and downloadable software, have been integrated into the system, giving rise to a powerful and flexible teleautonomous control system.

• 한국CDE학회논문집
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• 제17권1호
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• pp.35-44
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• 2012

Many automobile manufacturers are doing experiment on manufacturing environments by using an augmented reality technology. However, system layout and process simulation by using the virtual reality technology have been performed actively more than by using the augmented reality technology in practical use so far. Existing automobile assembly by using the augmented reality requires the precise calibrating work after setting the robot because the existing augmented reality system for the automobile assembly system configuration does not include the end tip deflection and the robot joints deflection due to the heavy weight of product and gripper. Because the robot is used mostly at the automobile assembly, the deflection problem of the robot joint and the product in the existing augmented reality system need to be improved. Moreover camera lens calibration has to be performed precisely to use augmented reality. In order to improve this problem, this paper introduces a method of the software based calibration to apply the augmented reality effectively to the automobile assembly system. On the other hand, the camera lens calibration module and the direct compensation module of the virtual object displacement for the augmented reality were designed and implemented. Furthermore, the developed automobile assembly system oriented AR-system was verified by the practical test.