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김휘수(Hwi Su Kim),박동일(Dong Il Park),박찬훈(Chan Hun Park),김병인(Byung In Kim),도현민(Hyun Min Do),최태용(Tae Yong Choi),김두형(Doo Hyung Kim),경진호(Jin Ho Kyung) 한국생산제조학회 2016 한국생산제조학회지 Vol.25 No.6
General industrial robots are difficult to use for precision assembly because they are operated based on position control. Their position accuracy is also usually higher than the assembly clearance (several tens of mm). In previous researches, force control was suggested as a robotic assembly solution. However, this method is difficult to apply in reality because of speed and cost problems. The RCC provides high speed, but applications are limited because the compliance is fixed, and it cannot detect an assembly condition during a task. A variable passive compliance device (VPCD) was developed herein. The VPCD can detect the assembly condition during tasks. This device can provide proper compliance for successful assembly tasks. The pneumatic system and the Stewart platform with an LVDT sensor were applied for measuring the displacement and variable compliance, respectively. The concept design and analysis were conducted to prove the effectiveness of the developed VPCD.
박정준(Jung-Jun Park),김병상(Byeong-Sang Kim),송재복(Jae-Bok Song) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
Unlike industrial manipulators, the manipulators mounted on the service robots are interacting with humans in various aspects. Therefore, safety has been the important design issue. Many compliant robot arm designs have been introduced for safety. It is known that passive compliance method has faster response and higher reliability than active ones. In this paper, a new safe mechanism based on passive compliance has been proposed. Passive mechanical elements, specifically transmission angle of the 4-bar linkage, springs and shock absorbing modules are incorporated into this safe mechanism. This mechanism works only when the robot arm exerts contact force much more than the human pain tolerance. Validity of the safe mechanism is verified by simulations and experiments. In this research, it is shown that the manipulator using this mechanism provides higher performance and safety than those using other passive compliance mechanisms.
Gang Li,Wenjie Sun,Deshi Liu 대한기계학회 2013 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.27 No.8
The bending moment transmitted to the forging manipulator due to press motion during metal forming process is investigated. The dynamic model of the forging manipulator system is established, including the manipulator and the workpiece by using Lagrange equation. The system is modeled as an Euler-Bernoulli beam with spring-mass at the sliding end, which experiences a transient vibration due to displacement excitation. The Winkler foundation model is used to simulate the rotational constraint of the forging dies on the workpiece because of the surface contact. The numerical results are compared with the LS-DYNA simulations, and a good prediction on the bending moment could be obtained with the comparatively simple proposed model. The results indicate that the press position where the forging dies work along the workpiece plays a crucial role for the dynamic bending moment. To further investigate the dynamic effects due to the press motion, the influence of clamp mass of the manipulator is also examined.
Design and development of an automated all-terrain wheeled robot
Pradhan, Debesh,Sen, Jishnu,Hui, Nirmal Baran Techno-Press 2014 Advances in robotics research Vol.1 No.1
Due to the rapid progress in the field of robotics, it is a high time to concentrate on the development of a robot that can manoeuvre in all type of landscapes, ascend and descend stairs and sloping surfaces autonomously. This paper presents details of a prototype robot which can navigate in very rough terrain, ascend and descend staircase as well as sloping surface and cross ditches. The robot is made up of six differentially steered wheels and some passive mechanism, making it suitable to cross long ditches and landscape undulation. Static stability of the developed robot have been carried out analytically and navigation capability of the robot is observed through simulation in different environment, separately. Description of embedded system of the robot has also been presented and experimental validation has been made along with some details on obstacle avoidance. Finally the limitations of the robot have been explored with their possible reasons.