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파지 안정성을 강화한 과수 수확용 로봇 그리퍼의 설계 개선
최두순,문선영,황면중 한국로봇학회 2020 로봇학회 논문지 Vol.15 No.2
In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.
Three-dimensional model of spray forming by fringe element reconstruction method
최두순 대한기계학회 2010 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.24 No.5
A three-dimensional spray forming process model was developed to predict the general transient shape of deposited material. The distribution of the spatial droplet flow rate was modeled by an axisymmetrical Gaussian function, and the shadowing effect was utilized for accurate prediction of the deposited shape. In order to construct the three-dimensional meshes applicable to various numerical analyses,the fringe element reconstruction method was employed to calculate the shape of deposited material. In order to verify the developed method, the simulation results were compared with the available experimental data in the literature. Good agreement was obtained between the numerical and experimental results. Finally, the effect of the withdrawal velocity of the substrate was investigated.
최두순 한국기계가공학회 2015 한국기계가공학회지 Vol.14 No.1
Wind turbine blades represent a key component of wind turbines, which extract energy from the wind. In the present study, the structural design of a small wind turbine blade is undertaken using a numerical analysis. The reliability of numerical results is verified through a comparison with the full-scale structural test data of a current blade. To modify the blade design, the blade was divided into several sections and the effect of the thickness of each section was investigated in a numerical analysis. Finally, the modified blade was designed with a lightweight and high-strength.
단섬유 보강 사출성형품의 휨 감소를 위한 게이트 위치, 성형 조건 및 제품 구조 설계
최두순(D. S. Choi) 한국소성·가공학회 2008 소성가공 : 한국소성가공학회지 Vol.17 No.6
Fiber reinforced injection molded parts are widely used in recent years because of their improved properties of materials such as specific stiffness, specific strength, and specific toughness. The demand for products with high precision is increasing and it is important to minimize the warpage of the products. The warpage of short-fiber reinforced product is caused by anisotropy induced by fiber orientation as well as the residual stresses induced during the molding process. In order to reduce the warpage of the part, it is important to achieve successful mold design, processing control, and part design. In the present study, the design of gating system, molding condition, and part structure were carried out and verified with numerical analysis using a commercial CAE code Moldflow. The numbers and locations of gates were iteratively determined, and the molding conditions which can decrease the warpage of the part were investigated. Finally, slight structural modification of the part was conducted to reduce the locally concentrated warpage.
탄소나노튜브 박막 제조를 위한 분무공정에서의 증착 두께 분포 예측 모델 개발
최두순(Du Soon Choi),김덕종(Duckjong Kim),장동환(Dong Hwan Jang) 대한기계학회 2011 大韓機械學會論文集B Vol.35 No.9
탄소나노튜브(CNT)는 원통형의 탄소나노 구조물로서, 뛰어난 전도특성과 열전도율을 갖는다. 이러한 특성을 이용한 다양한 응용 분야의 하나로 CNT 를 박막형태의 그물망으로 제작하여 전도성 필름으로 응용하는 방안이 연구되고 있다. 이러한 CNT 의 박막 제조 방법 중, 분무 코팅 방식은 대면적 박막 제조에 널리 사용되나, 박막 두께를 균일하게 제작하는 점에 어려움이 있다. 이러한 문제점을 해결하려면 분무시의 공정조건이 증착 두께 분포에 미치는 효과를 잘 분석해야 한다. 본 연구에서는 분무 공정에서의 증착두께분포를 예측하기 위한 수치해석 모델을 개발하였다. 또한, 개발된 모델을 이용하여 여러가지 노즐 경로에 따른 증착 두께 분포를 분석하였다. A carbon nanotube (CNT) is a cylindrical carbon nanostructure with good transport properties along the tube’s axis. As an approach for realizing the practical use of CNTs, CNT networks are fabricated and their applications in many fields are investigated. To fabricate thin CNT-based films, several methods have been proposed and used. Among these methods, the spray coating method is a robust method for fabricating a large area. However, it is difficult to achieve uniformity in the CNT network. To solve this problem, it is necessary to understand the effect of the sprayprocess parameters on the deposition thickness distribution. In this study, a numerical model for predicting the deposition thickness distribution during the spray process was developed. The spatial deposition thickness distributions obtained according to various nozzle paths were analyzed using the developed numerical model.
비정형 물체의 안정적인 파지를 위한 유연한 로봇 그리퍼 설계
최두순(Du Soon Choi),이주은(Ju Eun Lee),황면중(Myun Joong Hwang) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.3
Many studies on agricultural robots are actively underway; hence, the design and the manufacture of robot grippers for manipulating a variety of fruits are attracting attention. A flexible gripper is required for harvesting without damage because the fruit size and shape are not uniform. This study executes optimal design and analysis to determine the design parameters of a spatial flexible gripper for grasping unstructured objects. The actual gripper was manufactured through 3-D printing. The grasping motion was realized by adapting the cam structure to convert rotation by a servo motor into translation to stretch or fold the finger. The experiment result shows that each part of the finger holds the object stably without excessive bending.