모바일 경계로봇의 테스트를 위한 병렬로봇의 설계

김도현(Do-Hyun Kim),황기상(Ki Sang Hwang),김성수(Sung-Soo Kim),박성호(Sung Ho Park) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5

A mobile surveillance robot, which is mounted at a UGV is under development in order to protect important public area from invaders. It is required to a control system for stabilization of the robot, in order to compensate the disturbance from the UGV. To develop such a robot, expensive field tests are necessary. To reduce the numbers of field tests, a parallel robot that can regenerate UGV motion is very effective tool to test the mobile surveillance robot in the laboratory environment. In this paper, simulation based design procedure for developing 6-axis parallel robot has been introduced for the test of a mobile surveillance robot. The 3D geometric model of the parallel robot is created using ProE. The multi body dynamics model of the parallel robot is also created using ADAMS to carry out kinematics and dynamics analyses. UGV bump run simulation is carried out to generate the UGV motion. The inverse kinematics program is also developed using the Matiab program.

Stiffness Modeling and Optimization of a 3-DOF Parallel Robot in a Serial-Parallel Polishing Machine

Peng Xu,Bing Li,Chi-Fai Cheung,Ju-Fan Zhang 한국정밀공학회 2017 International Journal of Precision Engineering and Vol.18 No.4

Polishing is a kind of finishing process that can effectively reduce the surface defects and improve the form accuracy. This paper presents a novel hybrid machine with 6 degrees of freedom (DOF) serial-parallel topological structure used as an ultra-precision polishing equipment which is composed of a 3-DOF parallel robot, a 2-DOF serial robot and a turntable providing a redundant DOF. Due to the complexity of structure, stiffness performance evaluation of the parallel robot becomes a challenge. As a result, a theoretical model of the parallel robot based on the virtual work principle and the deformation superposition principle is formulated for analyzing the stiffness performance. With the developed model, a multi-objective dimensional optimization method is developed to maximize both the workspace volume and the global stiffness performance of the parallel robot. Artificial intelligence approach based on genetic algorithms is implemented to obtain an optimal combination of structural parameters. The effectiveness of this method is validated by simulation and the parallel robot with optimized structural parameters has a workspace with higher stiffness performance, hence justifies its suitability for high precision polishing.

Dynamic analysis of the 3CRS parallel robot using carbon/natural fibers hybrid composite links

Anh Vu Nguyen,Belhassen Chedli Bouzgarrou,Karine Charlet,Alexis Beakou 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

With the aim of improving the damping capacity of high-speed industrial robots, the links made of carbon/natural fibers reinforced hybrid composite is used for replacing aluminum links in the limbs of the 3CRS robot, a 6-degrees of freedom (DOFs) parallel robot with only 3 limbs. In this paper, vibration and damping analyses of the 3CRS robot, integrating composite links, are presented. The dynamic analysis of the robotic structure with the viscoelastic composite links are performed by an analytical method based on the matrix structural analysis method combined with the Lagrange equations and the correspondence principle. By using the analytical method, the modal frequencies and the loss factor of the reformed robot with the hybrid composite links are determined and compared with those of the initial robot with the aluminum links. The results show that the reformed robot with the hybrid composite links has similar modal frequencies, but considerably higher damping capacity in comparison with the initial robot. The damping improvements could allow the robot to achieve higher precision, operate with faster speeds/accelerations and work in harder dynamic loading conditions. It confirms therefore the benefits of using carbon/natural fibers hybrid composite in robotic structures.

병렬형 다리 구조를 가진 2족 보행 로봇의 설계 및 제어

윤정한(Jung Han Yoon),연제성(Je Sung Yeon),권오흥(Ohung Kwon),박종현(Jong Hyeon Park) 대한기계학회 2004 대한기계학회 춘추학술대회 Vol.2004 No.4

In this paper, we propose new parallel mechanism of a 3 dimensional biped robot whose each leg is composed of two 3-dof parallel platforms linked serially. This proposed parallel mechanism is able to move freely in the man-made environment and is applied to various fields, such as medical, welfare, and so on. And a total weight of each leg is expected to be lighter than serial linked leg. One side leg consists of a 3-dof orientation platform and 3-dof asymmetric parallel platform. The former consists of three active linear actuators and seven passive joints, and the latter of two active linear actuators, one active rotational actuator and eight passive joints. Thus, there are two kinds of parallel platforms each chain’s elements and active joint’s positions are different for the biped robot to move freely like a serial link without the kinematics constraints. The effectiveness and the performance of the proposed parallel mechanism and locomotion trajectory are shown in computer simulations with a 12-DOF parallel biped robot.

A Novel Control Method to Change Motion of 3DOF Parallel Robot Immediately and Flexibly

Hyun-Su Kim,Kwang-Hee Lee,Tae-Yong Kuc,Seon-Je Yang,Kyung-Tae Nam 제어로봇시스템학회 2019 제어로봇시스템학회 국제학술대회 논문집 Vol.2019 No.10

In this paper, we propose a new control method for manipulator that allows changing motion immediately and flexible even in sudden situations. The reason is that in the future production process, human and robots will collaborate, or the robot will recognize an environment by itself. We defined linear motion and curve motion method of a 3DOF parallel robot. This control method can be controlled in real time. We simulated to verify motion and experimented with parallel robots and laser trackers. Using this control method, the adept motion experiment of the robot was performed, and the cycle time was 0.395 secs. The new control method was applied to the factory of a beverage company.

Workspace Analysis of Upper Limb for a Planar Cable-Driven Parallel Robots toward Upper Limb Rehabilitation

XueJun Jin,Dae Ik Jun,Xuemei Jin,Sukho Park,Jong-Oh Park,Seong Young Ko 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10

Nowadays robotic technology is widely used in rehabilitation especially in stroke rehabilitation. Comparing conventional robots, cable-driven parallel robots have many advantages such as low moving inertia, high power efficiency, large workspace, low cost, and so forth. On this account, three-degree-of-freedom (3-DOF) cable-driven parallel for upper limb rehabilitation is currently under development. This paper presents motion analysis of upper limb to design a 3-DOF upper limb rehabilitation robot. Main feature of this rehabilitation robot is to provide the relatively large workspace and to be less dangerous in the situation of robot’s malfunction due to reduced moving part. Since our rehabilitation is being designed to have a planar workspace, the motion of upper limb is also analyzed in a plane.

보행공간과 안정성 향상을 위한 병렬기구 보행로봇의 설계

김치효(Chi Hyo Kim),박근우(Kun Woo Park),김태성(Tae Sung Kim),이민기(Min Ki Lee) 대한기계학회 2008 大韓機械學會論文集A Vol.32 No.4

This paper presents a parallel typed walking robot to improve walking space and stability region. The robot is designed by inserting an intermediate mechanism between upper leg mechanism and lower leg mechanism. The leg mechanism is composed of three legs and base, which form a parallel mechanism with ground. Seven different types of walking robot are invented by combining the leg mechanisms and an intermediate mechanism. Topology is applied to design the leg mechanism. A motor vector is adopted to determine Jacobian and a wrench vector is used to analyze dynamics of the robot. We explore the stability region of the robot from the reaction force of legs and compute ZMP including the holding force to contact the foot to a wall. This investigates a walking stability when the robot walks on the ground as well as on the wall. We examine the walking space generated by support legs and by swing legs. The robot has both a large positional walking space and a large orientational walking space so that it can climb from a floor up to a wall.

A Three-Cable Driven Planar Parallel Robot: Closet Set Searching Kinematics and Model Reference Adaptive Control

Jihwan Kim,Ethan Oh,Mincheol Kim,Eui-Sun Kim 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

Cable-driven parallel robot (CDPR) has advantages including a reconfigurable workspace and lightweight actuators. The goal of this study is to develop a three-cable driven planar parallel robot that can be utilized for upper arm exercise toward routine practice. To make a repetitive practice motion on a patient’s desk, we designed and prototyped a robotic system based on the three-cable driven planar parallel robot that can minimize the number of cable and related parts. Forward kinematics is derived with a novel closet set searching method and a model reference adaptive controller is designed for the desired trajectory tracking. The experimental results show that the root mean square error (RMSE) was 2.17 and 2.09 mm for a circle trajectory and 1.33 mm and 3.29 mm for a line trajectory, along with the x- and y-axis. We could confirm that the prototyped three-cable planer CDPR has the possibility to adapt in routine exercise or rehabilitation requiring repetitive motions with easy installation.

Dimensional synthesis of six-degrees-offreedom high-speed parallel robot using comprehensive evaluation index

Fan Zhang,Jiangping Mei,Yanqin Zhao 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.3

Existing high-speed parallel robots cannot satisfy the operating requirements of non-planar industrial generating line. Considering this problem, this study proposes a comprehensive index that can be used for the dimensional synthesis design of a six-degrees-offreedom (6-DOF) (three translations and three rotations) parallel robot. The index is based on kinematic, coupling characteristic, and dynamic analyses. A comparison with the dimensional parameters of a previously designed robot shows that the proposed design method can effectively decrease the indexes in various aspects and improve the motion performance of the robot. In addition, the servo motor specifications are estimated using the common trajectory and seven-time B-spline curve motion law to meet the robot motion requirements. Therefore, the proposed design approach has successfully been used to guide and develop the design process of the 6-DOF high-speed parallel robot.

Development of a 6-axis robot's finger force/moment sensor for stable grasping of an unknown object

Gab-Soon Kim 한국정밀공학회 2004 International Journal of Precision Engineering and Vol.5 No.3

This paper describes the development of a 6-axis robot's finger force/moment sensor, which measures forces Fx (x-direction force), Fy and Fz, and moments Mx (x-direction moment), My and Mz simultaneously, for stable grasping of an unknown object. In order to safely grasp an unknown object using the robot's gripper, the force in the gripping direction and the force in the gravity direction should be measured, and the force control should be performed using the measured forces. Also, the moments Mx, My and Mz to accurately perceive the position of the object in the grippers should be detected. Thus, the robot's gripper should be composed of 6-axis robot's finger force/moment sensor that can measure forces Fx, Fy and Fz, and moments Mx, My and Mz simultaneously. In this paper, the 6-axis robot's finger force/moment sensor for measuring forces Fx, Fy and Fz, and moments Mx, My and Mz simultaneously was newly modeled using several parallel-plate beams, designed, and fabricated. The characteristic test of the fabricated sensor was performed, and the result shows that interference errors of the developed sensor are less than 3%. Also, Robot's gripper with the 6-axis robot's finger force/moment sensor for the characteristic test of force control was manufactured, and the characteristic test for grasping an unknown object using the sensors was performed using it. The fabricated gripper could grasp an unknown object stably. Thus, the developed 6-axis robot's finger force/moment sensor can be used for robot's gripper.