Robot-based Shoe Manufacturing System

Min-Gyu Kim,Juhyun Kim,Dongbin Shin,Maolin Jin 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10

This paper presents robot-based shoe manufacturing systems for the upper and sole manufacturing process. For upper manufacturing process, we propose a robot path generation algorithm for upper roughing and cementing by industrial robot manipulators, where working trajectory on upper is acquired by using 3D digitizer. For the sole manufacturing process, we use an industrial robot manipulator with a cementing tool and a 3D scanning system. We propose a trajectory generation algorithm for sole cementing to transform 3D information of sole into 6D information of robot. We have verified the effectiveness of the proposed robot based upper and sole manufacturing systems experimentally.

Review of Manufacturing Processes for Soft Biomimetic Robots

조규진,고제성,김상우,추원식,홍용택,안성훈 한국정밀공학회 2009 International Journal of Precision Engineering and Vol.10 No.3

This paper reviews various processes for manufacturing new type of robots termed “soft biomimetic robots.” Most robots are made of rigid metallic materials. But in recent years, various biomimetic robots based on soft materials and compliant parts have been developed. New manufacturing processes are required to fabricate these types of robots, and the processes include Shape Deposition Manufacturing (SDM) and Smart Composite Microstructures (SCM). Since the design of robots are limited by the available material and manufacturing processes, it is important to develop new manufacturing processes that will enable development of novel soft biomimetic robots. In this paper, various manufacturing processes which can be applied to soft robot fabrication are summarized, and features of those processes are described. Processes are divided into three categories; soft robot body fabrication, actuators for soft robots and stretchable electronics. This review provides a guideline for selecting manufacturing processes for soft robots and developing new processes that will enable new type of robots to be designed.

제조업체 사무자동화를 위한 RPA 소프트웨어 구현에 대한 연구: 지역 제조업체 사례를 중심으로

정성욱 ( Sung-wook Chung ) 한국산업융합학회 2022 한국산업융합학회 논문집 Vol.25 No.2

Robot Process Automation (RPA) is a computer technology called Robotic Process Automation, a form of business process automation based on the concept of software robots or artificial intelligence (AI) walkers. In general, in traditional workflow automation tools, software developers design software that creates a set of actions to automate tasks and interfaces for the back-end systems using internal APIs or dedicated script languages. However, in RPA software, automation can be implemented by configuring an operating processor as if the general user is directly performing the task of the application. In other words, it can be said that it is a suitable development method for automating simply repetitive tasks rather than developing specific programs in which all necessary functions are implemented, as in general software development. Thus, this is more appropriate for configuring and automating RPA software in traditional manufacturing companies that are not easy to develop and apply smart factories or high-end AI software. Therefore, this research aims to analyze the requirements required at the actual manufacturing companies, focusing on the manufacturer's case in Changwon, Gyeongsangnam-do, called SinceWin Co., Ltd., and to examine the possibility of RPA software in the manufacturing companies by implementing actual RPA software that supports office automation. Through the research, it was confirmed that the actually implemented RPA software met the requirements of the company and helped manufacturer practice significantly by automating the parts that were worked error-prone and manually periodically.

Multibody modelling of N DOF robot arm assigned to milling manufacturing. Dynamic analysis and position errors evaluation

Stefano Baglioni,Filippo Cianetti,Claudio Braccesi,Denis Mattia De Micheli 대한기계학회 2016 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.30 No.1

Nowadays, with the large use of robot manipulators in the most different fields of industrial production, two main aims must be commonlyreached: robot dynamic behavior improvement and end-effector position errors reduction. For a N DOF robot arm, in case of specificapplications such as milling manufacturing, one of the main source of end-effector position errors can be identified with joint compliances. This aspect, well known in literature, has been confirmed by experimental tests and measurements carried out on a specificrobot assigned to non-standard milling manufacturing of marble objects (sculptures realization). To approach and analyze this issue theauthors chose the multibody simulation environment. Hence, the authors developed a parametric modelling procedure that, by determiningthe robot characteristics through CAD model and technical data sheet investigation, provides reliable multibody dynamic models ofgeneric N DOF robot arms. In this modelling approach the robot geometry construction is based on a standard strategy typical of thisresearch field (i.e. Denavit-Hartenberg, Veitschegger-Wu). The developed procedure enables to obtain robot representation at variouscomplexity levels according to the number of modelled robot components and actuation typology (Motion laws defined both in displacementor applied torque). Eventually, for a specific test case, the authors were able to correctly simulate the robot dynamic behavior,as it was demonstrated by numerical/experimental comparison. In this way the influence of the joint compliance behavior and actuatorrotational inertia effects on end-effector position accuracy was analyzed.

2D CAD based robot programming for processing metal profiles in short series manufacturing

Topi Pulkkinen,Tapio Heikkila,Mikko Sallinen,Sauli Kivikunnas,Timo Salmi 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10

Fast robot programming is a requirement for efficient, flexible and reconfigurable short series manufacturing processes. This paper presents a model based robotprogramming concept for applications where metal profiles are processed byrobots and only a 2D geometrical representation of the workobject - or product billet - is available. The robot is programmed mainly through the 2D CAD drawing of the product billet by adding the process-related information such as bending- and cutting lines, angles and plate thickness. This enables the automatic extension of the model into 3D-space and calculating the sparse set of tool path tag points for the robot. The concept also considers the joint limits of the robot while interpolating the robot motions to full paths. This is achieved by dividing the complete path into segments and adjusting the product billet location and tag point configurations within the path. The segmentation of the path is done in an offline programming environment that also enables collision checking and path correctness verification. The concept is evaluated and tested in a simulation environment and in a real robot testing environment.

신 성장동력의 로봇개발 동향과 전망

김성우 한국융합보안학회 2017 융합보안 논문지 Vol.17 No.2

로봇은 인간을 모방하여 외부환경을 인식하고 상황을 판단하며 자율적으로 동작하는 기계를 의미한다. 로봇은제조용 로봇과 서비스용 로봇으로 구분하고 서비스용 로봇은 전문서비스용 로봇과 개인서비스용 로봇으로 분류된다. 최근 제조업의 생산성 경쟁 심화, 안전 이슈 부상, 저출산과 고령화 심화로 인해 로봇산업이 부상하고 있다. 최근 로봇산업은 첨단기술 분야의 복합체로 기술혁신성과 성장잠재력을 가지고 있기 때문에 각광받고 있는 산업분야이다. IT, BT 및 NT 관련 요소들이 융합되어 구현되는 기술로서 그 파급효과는 매우 커지고 있다. 사회구조와 생활패턴의 변화로 인해 생명 연장과 건강에 대한 사회적인 관심이 높아지고 있으며 의료관련 분야에 많은 관심이 모아지고 있다. 이제는 인공지능(AI) 산업이 급성장하고 있기 때문에 대·중소기업 협력 강화를 통한글로벌 경쟁력을 확보하는 것이 우선 과제이다. 대기업의 장점인 R&D 투자능력과 마케팅 능력과 중소기업의장점인 로봇 기술을 결합해야 하며 협력 모델 구축 및 M&A를 통해 글로벌 대기업과 경쟁력을 확보해야 한다. The robot imitates humans and recognizes the external environment and judges the situation. The robot is a machine that operates autonomously. Robots are divided into manufacturing robots and service robots. Service robots are classified as professional service robots and personal service robots. Because of the intensified competition of productivity in manufacturing industries, rising safety issues, low birth rate and aging, the robots industry is emerging. Recently, the robot industry is a complex of advanced technology fields, and it is attracting attention as a new industry where innovation potential and growth potential are promising. IT, BT, and NT related elements are fused and implemented, and the ripple effect is very large. Due to changes in social structure and life patterns, social interest in life extension and health is increasing. There is much interest in the medical field. Now the artificial intelligence (AI) industry is growing rapidly. It is necessary to secure global competitiveness through strengthening cooperation between large and small companies. We must combine R&D investment capability and marketing capability, which are advantages of large corporations, and robotic technology. We need to establish a cooperative model and secure global competitiveness through M&A.

인간-로봇 상호협력작업을 위한 모바일로봇의 지능제어에 관한 연구

김두범,배호영,김상현,임오득,백영태,한성현 한국산업융합학회 2019 한국산업융합학회 논문집 Vol.22 No.2

This study proposed a new technique to control of mobile robot based on voice command for (Human-Robot Cooperative operation in manufacturing precess). High performance voice recognition and control system was designed In this paper for smart factory. robust voice recognition is essential for a robot to communicate with people. One of the main problems with voice recognition robots is that robots inevitably effects real environment including with noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot’s own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we describe an robust voice recognition system which can robustly recognize voice by adults and students in noisy environments. It is illustrated by experiments the voice recognition performance of mobile robot placed in a real noisy environment.

인공지능 로봇의 불법행위책임 - 인공지능 로봇 보유자의 과실과 제조판매자의 설명의무 -

임대성 연세법학회(구 연세법학연구회) 2022 연세법학 Vol.40 No.-

Interest in artificial intelligence robots has grown even more during the corona virus. This is because it was thought that the current economic development could be continued while protecting human health and life if production work, transportation work, and medical treatment were carried out through robots that do not get sick or die among the global pandemic. In addition, the commercialization of autonomous vehicles, which has been underway for the past several years, has been sufficient to attract many people's attention, although it has not yet reached full autonomous driving. However, there was an accident that caused human damage during the testing and operation of the autonomous vehicle, and with the advent of weak and strong artificial intelligence robots, the existing liability theory, damage compensation theory, and tort liability were questioned. review was conducted. The theory of holding AI robots accountable is necessary because particularly strong AI will have human-like autonomy. However, there are difficulties in acknowledging act and willful negligence. Moreover, as strong artificial intelligence has not yet appeared, it is only a theoretical discussion. In the midst of this, risk responsibilityism, compensation liabilityism, and benefit liabilityism are argued to overcome the limitations of the existing negligence responsibility. Risk responsibilityism and compensation liabilityism apply existing theories, and benefit liabilityism emerged with the background that the benefits of the invention and development of new technologies should be considered. Realistically, in the current situation, it seems necessary to take an approach with norms that can be used within the current legal system rather than the approach of imposing responsibility or granting legal personality to the AI ​​robot. This is because the legislative solution cannot yet start, and the human and material damage caused by artificial intelligence robots (autonomous vehicles) has already begun. In this regard, it seems reasonable to place a basis for responsibility for the actions of users who initiate the operation of the artificial intelligence robot. Although this seems to impose severe liability on the user, in reality, it facilitates the proof of responsibility based on the product description obligation that the manufacturer/seller or manufacturer/seller has to fulfill to the user, and in many cases, the manufacturer/seller or manufacturer/seller, not the user, is liable. It is an approach to lead Through this, an approach that utilizes the advantages of artificial intelligence robots and protects victims in good faith is expected to be possible. In the case of Germany's autonomous vehicle law (das Gesetz zum automatisierten Fahren), it is seen that a similar approach is taken by basically stipulating the responsibility of the ‘Auto Halter’ and supporting the responsibility structure of the ‘Auto Halter’ of the autonomous vehicle through a technical supervisor. At least in the transition period before strong artificial intelligence appears, this approach seems reasonable. It is necessary to systematically improve Korea's existing liability laws and laws related to artificial intelligence robots, and also continuous research on strong artificial intelligence is required. 전 세계적인 코로나 팬데믹을 겪으면서 인공지능 로봇에 대한 관심이 더 높아졌다. 왜냐하면 사람들이 병에 걸리지도 않고 죽지도 않는 로봇을 통해 생산・운송・치료업무 등을 수행하여 인간의 건강과 생명을 보호와 지속적 경제 발전을 도모할 수 있다고 생각하였기 때문이다. 또한 지난 수년간 더 가까이 다가온 완전 자율주행 자동차 분야는 많은 이들의 관심을 끌기에 충분했고 2021년 독일, 2022년 미국이 완전 자율주행(레벨4) 관련 법규를 제정하였기 때문이다. 이미 (부분)자율 주행 자동차 운행 중에 인적 피해가 발생하는 이른바 ‘마운틴 뷰’ 사고가 일어났고, 약한 인공지능 로봇과 강한 인공지능 로봇의 등장에 대비하여 기존의 책임이론, 손해배상이론, 불법행위 책임이론을 적용해도 되는지에 대한 검토가 진행되었다. 로봇에게 책임을 지우는 이론, 이용자 내지 보유자에 책임을 지우는 이론 등이 주장되고 있다. 인공지능 로봇에게 책임을 지우자는 이론은 특히나 강한 인공지능이 등장하면 인간과 같은 자율성을 가질 것이기에 자율주행 로봇이 책임을 져야 한다고 주장한다. 그러나 행위성과 고의・과실을 인정하는데 어려움이 있다. 더군다나 아직은 일상에서 실존하는 강한 인공지능을 경험할 수 없기 때문에 시론적 논의에 그치고 있다. 그러한 가운데 기존의 과실책임주의의 한계를 극복하기 위해 위험책임주의, 보상책임주의, 편익책임주의가 주장되고 있다. 위험책임주의와 보상책임주의는 기존의 이론을 적용하는 것이고 편익책임주의는 신기술의 발명과 개발이 주는 이로움을 감안해야 한다는 이론이다. 현실적으로 지금의 상황에서는 인공지능 로봇에게 책임을 지우거나 법인격을 부여한다는 접근보다는 지금의 법체계 안에서 활용할 수 있는 규범을 가지고 접근하는 자세가 필요해 보인다. 인공지능 로봇(자율주행차량)에 의한 인적・물적 손해는 이미 시작되었지만 입법적 해결은 아직 조심스럽기 때문이다. 그런 점에서 인공지능 로봇을 작동시키는 작동개시 행위를 이용자의 행위에 책임의 근거를 지우는 것이 타당해 보인다. 이는 이용자에게 가혹한 책임을 지우는 것으로 보일 수도 있지만 현실적으로는 제조판매사나 제조판매자가 이용자에게 제공해야 하는 제품 설명의무를 근거로 책임 소재의 입증을 용이하게 하고 많은 경우에 이용자가 아닌 제조판매사나 제조판매자의 책임을 지우기 용이하게 하는 접근이다. 이를 통해 인공지능 로봇의 잇점은 활용하고 선의의 피해자를 보호하는 접근이 가능할 것으로 보인다. 독일의 자율주행차량법(das Gesetz zum automatisierten Fahren)의 경우 기본적으로 보유자의 책임을 규정하고 기술감독관을 통해 자율주행 보유자의 책임구조를 뒷받침하게 하여 유사한 방식을 취한다고 보여진다. 최소한 강한 인공지능이 등장하기 전의 과도기에는 이러한 접근이 타당해 보인다. 이를 고려하여 우리나라의 기존 책임법령 및 인공지능 로봇 등과 관련된 체계적인 법률 개선이 필요하며 강한 인공지능과 관련하여 향후 지속적인 연구가 필요할 것으로 판단된다.

가변강성 메커니즘을 적용한 로봇 돌고래 설계 및 제작

박용재(Yong-Jai Park) 한국산학기술학회 2020 한국산학기술학회논문지 Vol.21 No.5

수중 로봇의 가장 기본 성능이라 할 수 있는 동적 성능인 유영속도와 동적 효율 향상을 위해 수중생물을 모사한 로봇들이 주로 연구되고 있다. 그중에서 생체모사 소프트 로봇은 유연한 꼬리지느러미를 적용함으로써 높은 자유도를 구현할 수 있다. 다만, 유연한 구동부의 효율을 높이기 위해서는 구동 주파수에 맞추어 꼬리지느러미의 강성이 바뀌어야 한다. 따라서, 연구를 통해 새로운 형태의 가변강성 메커니즘을 구현하고, 이를 연구 과정에서 검증하였다. 본 연구에서는 실제 돌고래의 해부도에서 영감을 얻어, 가변강성 메커니즘을 적용한 돌고래 로봇을 새로이 설계하고 제작하는 과정을 기술하였다. 실제 돌고래의 척추 모양을 모사하여, 절삭과 적층형 공정으로 가변강성 구동부를 제작하였다. 로봇 돌고래를 구동하기 위한 텐던도 실제 돌고래의 텐던 위치를 고려하여 배치하였으며, 추가로 강성 변화를 위한 텐던을 설치하였다. 돌고래의 유선형 외형을 모사하여 로봇 돌고래를 제작하였고, 강성 변화에 따른 로봇 돌고래의 유영속도를 측정하였다. 동일한 구동 주파수에 꼬리지느러미 구동부의 강성을 변화시켰을 때, 로봇 돌고래의 유영속도의 차이가 약 1.24배, 추력으로는 약 1.5배 변화하였다. Bio-inspired underwater robots have been studied to improve the dynamic performance of fins, such as swimming speed and efficiency, which is the most basic performance. Among them, bio-inspired soft robots with a compliant tail fin can have high degrees of freedom. On the other hand, to improve the driving efficiency of the compliant fins, the stiffness of the tail fin should be changed with the driving frequency. Therefore, a new type of variable stiffness mechanism has been developed and verified. This study, which was inspired by the anatomy of a real dolphin, assessed a process of designing and manufacturing a robotic dolphin with a variable stiffness mechanism. By mimicking the vertebrae of a dolphin, the variable stiffness driving part was manufactured using subtractive and additive manufacturing. A driving tendon was placed considering the location of the tendon in the actual dolphin, and the additional tendon was installed to change its stiffness. A robotic dolphin was designed and manufactured in a streamlined shape, and the swimming speed was measured by varying the stiffness. When the stiffness of the tail fin was varied at the same driving frequency, the swimming speed and thrust changed by approximately 1.24 and 1.5 times, respectively.

4차 산업혁명:스마트 매뉴팩처링과 스마트 로봇 운용을 위한 경제적모델의 제안

이인(In Lee) 한국산업경영시스템학회 2017 한국산업경영시스템학회 학술대회 Vol.2017 No.춘계

The Fourth Industrial Revolution, also called Industry 4.0, is a new wave of technology advancements that will affect the society in similar ways that the previous industrial revolutions have done. Smart manufacturing is recognized as one of the most important areas in the Fourth Industrial Revolution and is gaining a lot of attention from a wide range of industries. This paper presents technologies essential for the realization of smart manufacturing and discusses robots as productivity-enhancing workforce for smart manufacturing. This paper develops an economic life cycle model of robots as manufacturing workforce and illustrates how the model can be applied to minimize the total life cycle cost. Finally, four technical and managerial challenges are discussed.