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Cable Configuration에 따른 평면 병렬형 케이블 로봇의 작업공간 분석에 관한 연구
권진욱(Jin-wook Kwon),조기용(Ki-yong Cho),이민수(Min-su Lee),신영일(Young-il Shin) 대한기계학회 2017 대한기계학회 춘추학술대회 Vol.2017 No.11
Cable-Direct-Driven Robot (CDDR) in contrast with general robots (serial or parallel robots) has many prominent advantages, such as reliable and lower-mass structure, lower-development cost and operational excellence, better stiffness and high-loading capacity, and potentially large workspace. However, this workspace analysis has difficult work because the mechanism must maintain positive cable tension due to the unilateral property of cables. This paper focuses on the workspace analysis of planar CDDR in terms of two-configuration cases, crossed and non-crossed cable type. Also, only translational CDDR, with gravitational force, is considered in this paper as we attempt to hold zero rotational position using control system. Kinematics modeling, statics modeling, and the wrench-feasible workspace are used in order to analyze the model. The results show that the crossed cable type has more larger workspace, compared to non-crossed cable type. Therefore, the crossed cable type is recommended to the CDDR instead of non-crossed type.
이민수(Min Su Lee),신영일(Young Il Shin),최승준(Seung Joon Choi),강한별(Han Byul Kang),조기용(Ki Yong Cho) 유공압건설기계학회 2020 드라이브·컨트롤 Vol.17 No.1
An intelligent excavator can be divided into Machine Guidance (MG), semi-automatic, and unmanned by technology. The MG technology excavator is equipped with a tilt sensor on each link of the excavator and a GPS is installed on the excavator body to inform the user of the position of the excavator bucket end. Machine control (MC) technology that assists the user"s work can be divided into semi-automatic and fully automatic technology. The semi-automatic MC equipment has already been commercialized by Komatsu and Caterpillar. The MC excavator is equipped with an electro-hydraulic system, sensors and controllers to control the excavator bucket end according to the user"s needs. In this study, the semi-automated excavator modified based on manual excavator, is equipped with an electro-hydraulic system, a controller system, multi-sensors and a control algorithm is developed to assist in excavation work such as leveling and grading. By applying the developed technology, it was possible to confirm productivity improvement compared to manual digging and leveling work. In the future, further research to improve the accuracy of the hydraulic precision control and collaborative work with heterogeneous construction equipment such as dump truck and automated collaboration tasks technology could be developed.
이민수(Min-soo Lee),신영일(Young-il Shin),최승준(Seung-jun Choi),권진욱(Jin-wook Kwon),조기용(Ki-yong Cho) 한국자동차공학회 2018 한국자동차공학회 학술대회 및 전시회 Vol.2018 No.11
Realtime load weighing systems are used since early ’70-s for mining and transport sector. Weighing system installed onto an Earthmoving machine, or a truck is very important for keeping maximum load in appropriate limits, avoiding over-load, avoiding from penalties also from high repair cost of transport vehicles, giving correct account between Partners. In this research, we proposed a load weighing algorithm and experimental method of multi-sensors calibration for excavator. As a result of the sensor calibration, it was found that the weighing error of several poses was less than 6% of total weight.