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문웅주(Moon Woong Ju),최형식(Choi Hyung Sik),임근화(Lim Geon Wha),김병국(Kim Byung Guk) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.4
In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot arm was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the arm joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.
Study on a Ultra-light Dual Revolute Manipulator with High Joint Torque
최형식,김태형,문웅주,Paul I. Ro 한국정밀공학회 2009 International Journal of Precision Engineering and Vol.10 No.4
This paper details a study performed on a new proposed twelve degree-of-freedom dual robot arm, which is very light but capable of handling heavy loads. The proposed robot arm has a higher value for the ratio of the load capacity/robot weight than conventional robot arms, which are actuated by motors with speed reducers, such as a harmonic drives, since it adopts a new type of robot actuator based on a closed chain mechanism. Because of the high value of the ratio of the payload capacity/robot weight, it can be used as a robot arm for mobile robots and for walking robots. Analyses of the design scheme and of the mechanism of the joint actuator used for the robot arm are presented. Also, the control system developed for the robot arm is introduced. The superior characteristics of the new proposed robot arm, handling heavy payloads with light weight links compared to industrial robots, are presented through carrying out various payload capacity tests. Since the robot arm is designed with light links, it has some deflections and these deflections of the links are analyzed using the Finite Element Method (FEM). The results of performance tests are presented to check the correctness of the FEM analysis and to demonstrate the actual capability of handling heavy payloads applied to the robot arm.
최형식(H. S. Choi),문웅주(W. J. Moon),김병국(B. G. Kim),임근화(K. W. Lim) 한국정밀공학회 2006 한국정밀공학회 학술발표대회 논문집 Vol.2006 No.5월
In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot arm was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the arm joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.