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스카라 로봇을 이용한 방사성 의약품 로봇 분주 시스템 개발
이지양(Ji-Yang Lee),이철수(Choel-Soo Lee),이동구(Dong-Gu Lee) 한국생산제조학회 2017 한국생산제조학회지 Vol.26 No.5
Synthesis and dispensing of radiopharmaceuticals need an automatic way of blocking radiation exposure of workers. Radiation exposure may damage organs and tissues. The main objective of this work is developing the production system for radioactive products using the SCARA robot. In this work, the architecture and process of a robotic dispensing system is defined. SCARA and the dispensing machine were designed and the entire system was validated with 3D CAD modeling. Using the validated model, the system was built physically. While controlling the system, a decay algorithm was applied simultaneously to consider the radioactive decay. Additionally, the process map, which is the data map, was developed using Excel for easy process modification. With the fully developed system, the dispensing repeatability was tested. As a result, the error of dispensing quantity was always almost less than 1%.