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김병인(Byung In Kim),경진호(Jin Ho Kyung),도현민(Hyun Min Do),조상현(Sang Hyun Jo) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.10
These days, the interest of high speed robotic system is increasing because it is very important to get the cost-competitiveness. The parallel kinematic mechanism is more useful than the serial kinematic mechanism. For the reason, the researches on the parallel robot system as a high speed robotic one are have been done by many researchers. In this paper, the research on the design and analysis of the high speed parallel robot has been done by the authors. First, Basic robot structure is designed and modal analysis is studied to get the basic characteristics of the vibrational motion. Second, the harmonic analysis is studied to get the information of the natural frequency in some different designs of the outer-arm of the parallel robot. Finally, actual robot system is designed and implemented and it is confirmed that the analysis results coincide with the experimental results.
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.
송두상(Doo Sang Song),홍준희(Jun Hee Hong),정황영(Hwang Young Jeong),강대화(Dae Hwa Kang),김병인(Byung In Kim) Korean Society for Precision Engineering 2009 한국정밀공학회지 Vol.26 No.4
In this paper, we studied of measurement the vibration of natural frequency using optical fiber sensor. The boring bar for measurement of vibration in use optical fiber sensor has the advantage of direct measure for the frequency than accelerometer. Because it deal with output value on electrical signal of optical fiber in physical disturbance when it measures the frequency of vibration. The optical fiber sensor measured the vibration of boring bar by the gap in sensing jig while optical fiber just kept contact with boring bar. A prototype system was composed of jig part with gap and optical system part. In this paper, we found out the possibility to measurement of vibration by the gap in use optical fiber.
미세 패턴 가공을 위한 유도가열 및 수냉식 하이브리드 롤에 대한 기초 연구
조상현(Sang-Hyun Jo),김병인(Byung-In Kim),손영수(Young-soo Son),윤동원(Dongwon Yun) 한국생산제조학회 2013 한국생산제조학회지 Vol.22 No.5
Roll-to-roll (R2R) hot embossing systems have been developed and are widely used in various industrial domains. These systems press and heat flexible films between a press roll and a back-up roll, as said films pass through the two rolls. In previous studies, a heating roll was used for heating. However, in this study, a hybrid roll for R2R hot embossing is conceptualized and developed. This R2R system can be used for generating fine patterns on large and continuous films. The hybrid roll of our system can cool and heat the films simultaneously, thus affording greater flexibility in process design. Thermal and structural analyses were performed for developing the hybrid roll. In addition, a hybrid roll was designed based on analytical results. Experiments were conducted for measuring the performance of the developed hybrid roll.
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.
코깅토크 측정장치 직접구동용 영구자석 동기전동기의 정밀속도 제어
박철훈(Cheol Hoon Park),손영수(Young Su Son),함상용(Sang Yong Ham),김병인(Byung In Kim),윤동원(Dong Won Yun) Korean Society for Precision Engineering 2009 한국정밀공학회지 Vol.26 No.5
Recently PMSM(Permanent magnet synchronous motor) are used for the various direct drive applications such as index table, telescope system and so on. Because the position/speed control performance of direct drive PMSM is directly affected by the torque ripple, there are lots of studies to reduce the cogging torque in the motor design stage. In order to verify the motor design, the reliable cogging torque measurement system is essentially required. The measured motor must be rotated in the constant speed under 1deg/sec so that the cogging torque profile is measured correctly. In this study, the cogging torque measurement system which uses the direct drive PMSM and the speed controller to rotate the measured motor in 0.1rpm(0.6deg/sec) has been developed. Simulink/xPC target was used for the controller and data acquisition system. Based on PI controller, DOB and AFC have been applied to eliminate the low frequency disturbances and the periodic speed ripple. The experimental results show the good performance of the speed regulation for the reference speed 0.1rpm and the reliable profile of the measured cogging torque by the developed speed controller.