Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
권호 표지
DOI QR코드

DOI QR Code

Development of a Dual-arm Collaborative Robot System for Chemical Drum Assembly

  • Gi-Seong Kim (Dept. of Mechanical Convergence Engineering, Kyungnam University) ;
  • Sung-Hun Jeong (Dept. of Mechanical Convergence Engineering, Kyungnam University) ;
  • Shi-Baek Park (Samsung Electronics, GCS Team) ;
  • Han-Sung Kim (Dept. of Mechanical Engineering, Kyungnam University)
  • Received : 2023.07.07
  • Accepted : 2023.08.07
  • Published : 2023.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, a robot automation methodology for chemical drum assembly in semiconductor industries are presented. Robot automation is essential to resolve safety issues in which operators are directly or indirectly exposed to chemicals or fumes in assembling dispense heads on chemical drums. However, the chemical drum assembling process involves complex and difficult tasks, such as mating male/female keycodes and fastening screws with large-diameter, which may be very difficult to be performed by a single-arm robot with a commercial rigid F/T sensor. In order to solve the problems, a method for assembling a chemical drum using dual-arm collaborative robot system, compliance F/T sensor, robot vision and gripper is presented.

Keywords

Acknowledgement

This research was partially supported by Samsung Electronics-University Cooperation Research Project.

References

  1. Edward, J. N. & Ronald S. F. "Dynamic modeling of a part mating problem: threaded fastener insertion," Proc. IEEE RSJ Int. Workshop Intell. Robots Syst., pp. 30-37, (1992). 
  2. Edward, J. N. & Ronald S. F. "Compliant Control of Threaded Fastener Insertion," ICRA, pp. 484-490, (1993). 
  3. Dift ler, M. A. & Walker, I. D. "Experiment s in aligning threaded parts using a robot hand," IEEE Trans. Robot. & Autom, vol. 15, pp. 858-868, (1999).  https://doi.org/10.1109/70.795791
  4. Jia, Z. et al. "A Survey of Automated Threaded Fastening," IEEE Trans. Autom. Sci. & Eng., vol. 16, pp. 298-310, (2018). 
  5. Kim, H. S. "Kinestatic Control using Six-axis Parallel-type Compliant Device," KSMTE, vol. 23, pp. 421-427, (2014).  https://doi.org/10.7735/ksmte.2014.23.5.421
  6. Kim, H. S. "Design of a 6-axis Compliance Device with F/T Sensing for Position/Force Control," KSIC, vol. 21, no. 2, pp. 63-70, (2018). 
  7. Park, S. B. Kim, H. S. "Position/force Control using 6-axis Compliance Device for Chemical Coupler Assembly," KSIC, vol. 25, no. 5, pp. 909-915, (2022). 
  8. Jeong, S. H. Kim, G. S. Park, S. B. Kim, H. S. "Development of Robotic Tools for Chemical Coupler Assembly," KSIC, vol. 25, no. 6, pp. 953-959, (2023). 
  9. Raibert, M. J. & Craig, J. J. "Hybrid Position/force Control of Manipulators," ASME J. Dyn. Syst. Meas. Contr., vol. 103, pp. 126-133, (1981).  https://doi.org/10.1115/1.3139652
  10. Duffy, J. "The fallacy of modern hybrid control theory that is based on orthogonal complements of twist and wrench spaces," J. Robot. Syst., vol. 7, pp. 139-144, (1990).  https://doi.org/10.1002/rob.4620070202
  11. www.dusemund.com 
  12. www.aicellomilim.com 
  13. www.staubli.com 
  14. Overview of Client Interfaces, Universal Robots, Denmark, (2023). 
  15. Mohamed R. et al. "Object Detection using Circular Hough Transform," AJAS, vol. 2, no. 12, pp. 1606-1609, (2005).  https://doi.org/10.3844/ajassp.2005.1606.1609
  16. Jeong, S. H. Kim, H. S. "Development of a 6-axis Robotic Base Platform with Force/Moment Sensing," KSIC, vol. 22, no. 3, pp. 315-324, (2019). 
  17. Kim, G. S. Jeong, S. H. Kim, H. S. "Study on the Stability of Force Control using a 6-axis Compliance Device with F/T Sensing," KSIC, vol. 26, no. 1, pp. 211-215, (2023).