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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.
김병인(Byung In Kim),손영수(Young Soo Son),박철훈(Cheol Hoon Park),이성휘(Sung Hwi Lee),함상용(Sang Yong Ham),조상현(Sang Hyun Jo) 한국생산제조학회 2013 한국생산제조학회지 Vol.22 No.5
Satellites providea lot of information and essayroles in the areas of defense and space observations. The precise distances to the satellites are measured by emitting and retro-reflecting alaser. For suchsurveys, satellite laser ranging (SLR) systems have been developed in different forms and for different areas. The structural integrity of the tracking mount is essential for it to be able to track ahigh-speed satellite precisely, overcoming the various external and internal disturbances and operating conditions. In this study, the analysisof a tracking mountwas performed for weight, wind loads, and inertia loads in order to verify itssoundness. The resultsof the comparison between aluminum and steel were analyzed in order to select the optimal material for the fork and main housing part.In addition, the natural frequency and mode shape werepredicted. Optimal material selection and structural integrity will also be verified usingstatic analysis.
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.
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.