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김병인(Byung In Kim),경진호(Jin Ho Kyung),도현민(Hyun Min Do),조상현(Sang Hyun Jo) 대한기계학회 2013 大韓機械學會論文集A Vol.37 No.8
병렬로봇은 구조적 특성 때문에 정밀성 및 고강성이 요구되는 분야와 고속성이 요구되는 분야에서 주로 적용되고 있다. 물류 분야에서 고속이송의 중요성은 날이 갈수록 증가하고 있으며, 본 연구에서도 동일한 목적으로 고속 이송에 적용될 병렬로봇이 개발되었다. 개발된 로봇은 최대 3kg의 부하를 이송할 수 있으며 0.1kg의 부하조건에서의 최대 운전 조건은 싸이클 타임 0.3sec로 최대 속도 약 4.5m/sec로 운전할 수 있으며(Pick & Place 작업, Adept cycle) 이때 최대 가속도는 약 13G에 달한다. 본 논문에서는 개발된 고속 병렬로봇의 설계 및 해석에 관한 연구결과와 개발된 로봇의 성능에 관해 소개하고자 한다. Parallel robots used in industry require high stiffness or high speed because of their structural characteristics. Nowadays, the importance of rapid transportation has increased in the distribution industry. In this light, an industrial parallel robot has been developed for high-speed transfer. The developed parallel robot can handle a maximum payload of 3 kg. For a payload of 0.1 kg, the trajectory cycle time is 0.3 s (come and go), and the maximum velocity is 4.5 m/s (pick amp, place work, adept cycle). In this motion, its maximum acceleration is very high and reaches approximately 13g. In this paper, the design, analysis, and performance test results of the developed parallel robot system are introduced.
박준혁(Junhyuk Park),김병인(Byung-In Kim),김성배(Seongbae Kim),Surya Sahoo 대한산업공학회 2010 산업공학 Vol.23 No.2
In this paper, we present the study of a real passenger transportation system. Passenger transportation problem aims to transport passengers from bus stops to their destinations by a fleet of vehicles while satisfying various constraints such as vehicle capacity, maximum allowable riding time in a bus, and time windows at destinations. Our problem also has special issues such as mixed loading, consideration of afternoon problem together with morning problem, and transferring passengers between vehicles. Our solution approach consists of three serial procedures: bus route generation, bus scheduling, and post optimization. Efficient heuristic algorithms were developed and implemented for the procedures. The proposed solution approach has been successfully applied to several real world problem instances and could reduce about 10% to 15% of buses.