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Indentification and Compensation of Robot Kinematic Parameters for Positioning Accuracy Improvement
김두형,국금환,Kim, Doo-Hyeong,Guk, Geum-Hwan 한국기계연구원 1989 기계연구원소보 Vol.19 No.-
This paper presents a simple identification method of the actual kinematic parameters for the robot with parallel joints. It is known that Denavit-Hartenberg's coordinate system is not useful for nearly parallel joints. In this paper, the coordinate frames are reassigned to model the kinematic parameter between nearly parallel joints by four parameters. The proposed identification method uses a straight ruler about 1m long. A robot hand is placed by using a teaching pendant at the prescribed points on the ruler, and corresponding error function is defined. The identified kinematic parameters which make the error function zero are obtained by iterative least square error method based on the singular value decomposition. In the compensation of joint angles, only the position is considered because the usual applications of robot do not require a precise orientation control.
김두형(Doo-Hyeong Kim),신내호(Nae-Ho Shin),오명호(Myoung-Ho Oh) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.9
In this study we have developed an anthropomorphic robot hand and arm by using tendon-tubes which can be used for people’s everyday life as a robot’s dynamic power transmission device. Most previous robot hands or arms had critical problem on dynamic optimization due to heavy weight of power transmission parts which placed on robot’s finger area or arm area. In order to resolve this problem we designed light-weighted robot hand and arm by using tendon-tubes which were consisted of many articulations and links just like human’s hand and arm. The most prominent property of this robot hand and arm is reduction of the weight of robot’s power transmission part. Reduction of weight of robot’s power transmission parts will allow us to develop energy saving and past moving robot hands and arms which can be used for artificial arms. As a first step for real development in this study we showed structural design and demonstration of simulation of possibility of a robot hand and arm by tendon-tube. In the future research we are planning to verify practicality of the robot hand and arm by applying sensing and controlling method to a specimen.
김두형(Doo-Hyeong Kim),경진호(Jin-Ho Kyung),김왕환(Yoang-Hwan Kim) 한국생산제조학회 2016 한국생산제조학회지 Vol.25 No.6
Single screw compressors are widely used in the fields of air/gas compression, refrigeration, and chemical fluid transportation systems. A single-screw compressor is composed of a screw rotor and two gate rotors located at both sides. This simple construction enables low rotational speed of the rotor, efficient compression with low noise, low vibration, and long bearing life. Despite these merits, the design method of single-screw compressors is not well known. To accelerate the industrial application of single-screw compressors, a design method using coordinate transformation is presented in this paper, and a tool trajectory is established for machining. Finally, the screw rotor, which is machined using the proposed method, is presented.
김두형(Kim Doo-hyeong),정광조(Chung Kwang-jo),박찬훈(Park chan-hoon) 한국생산제조학회 2007 한국공작기계학회 춘계학술대회논문집 Vol.2007 No.-
기계공업을 중심으로 한 산업분야에서 자동화의 핵심장치로 산업용 로봇이 널리 사용되고 있다. 1980년대 중반부터 국내의 유수기업에서 로봇의 사업화를 시작하였으나 현재는 소수의 대기업과 중소기업에서 사업을 유지하고 있다. 본 논문에서는 로봇의 설계에 필요한 해석기술에 관해서 기술하고자 한다. 대부분의 다관절 로봇의 설계에서 필요한 기술이나, 특히 300Kgf 이상의 중량물을 다루어야 하는 다관절 로봇에서는 설계단계에서 모터와 감속기를 비롯한 각종 핵심 요소의 선정과 로봇 팔의 설계를 위해서 정, 동력학 해석기술이 필요하다. 기계시스템의 동작해석용 software로서 상용의 프로그램이 다수 있으나, 로봇 설계에서 특히 필요로 하는 역 동력학문제를 해석하기 위한 전용 프로그램으로서 본 연구팀에서 별도로 개발하여 사용해 오고 있는 프로그램과 이를 적용한 중량물 로봇 설계의 실례를 기술하고자 한다.
김두형(Doo-Hyeong Kim),박찬훈(Chan-Hoon Park),최태용(Tae-Yong Choi),김휘수(Hwi-Su Kim),김왕환(Yoang-Hwan Kim) 한국생산제조학회 2018 한국생산제조학회지 Vol.27 No.4
In the fields of air/gas compression, refrigeration, and chemical fluid transportation systems, single-screw compressors are widely used. A screw rotor and two gate rotors located at both sides are the main components of a single-screw compressor. Because of this simple construction, it has merits of low rotational speed of the rotor, efficient compression with low noise, low vibration, and long bearing life. However, it is difficult to design single-screw compressors. To accelerate the design and manufacturing of single-screw compressors, a design method for a gate rotor using coordinate transformation and numerical estimation by iteration of edge points is presented in this paper. The lines connecting the edge points can be used for CAD/CAM data for design and machining.
복수의 양팔로봇을 적용한 휴대폰 셀 생산시스템의 자동화
도현민(Hyun Min Do),김두형(Doo Hyeong Kim),경진호(Jin Ho Kyung) 한국생산제조학회 2014 한국생산제조학회지 Vol.23 No.6
Demands for automation in the cell production process of IT products are becoming increasingly sophisticated. In particular, the dual?arm robot has drawn attention as a solution because it has a flexibility and works similarly to humans. In this paper, we propose an automation system for cellular phone packing processes using two dual?arm robots. Applied robots are designed with specifications to meet the requirements of cellular phone packing jobs. In addition, a robotic cell production system is proposed by applying a method of task allocation for efficient packing of cellular phones. Specifically, a task is assigned to reduce takt?time and to avoid collision between two robots. Finally, we discuss some experimental results that include the packing job of five unit boxes with seven kinds of accessories.
로봇 설치면 자세 변화에 대응 가능한 자중 보상 기반 안전 매니퓰레이터
도현민(Hyun Min Do),김휘수(Hwi-Su Kim),김두형(Doo Hyeong Kim),최태용(Tae-Yong Choi),박동일(Dong Il Park),손영수(Youngsu Son) 한국생산제조학회 2016 한국생산제조학회지 Vol.25 No.6
Guaranteeing the safety of human workers around robots has become an important issue with the increasing demand for human–robot collaboration in industrial production lines. This study proposes a robot manipulator equipped with a counterbalancing mechanism that reduces the power of actuators required to drive the robot, thus keeping a human worker safer in a human-robot collaborative environment. A counterbalancing torque that exactly cancels out the gravitational torque in the proposed mechanism is generated by restoring the force of a spring in the counterbalancing mechanism. A prototype design and experimental results are presented to verify the effectiveness of the proposed method.