• Journal of Biosystems Engineering
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• v.26 no.2
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• pp.163-168
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• 2001

A manipulator for test-cup attachment modules, which was a part of a robot milking system, was developed to reduce cost and labor for cow milking processing. A Cartesian coordinate manipulator was designed for the milking process, because it was quite flexible and can be constructed more economically than any other configuration. The manipulator was made use of DC motors, screws for power transmission, a RS422 interface system for the transmission of coordinate values and a one-chip microprocessor, 89C52. Performance tests of the manipulator were conducted to measure experimentally the precision of all axes. Some of the results are as follows. 1. The Cartesian coordinate manipulator was designed and built. Dimension of the three perpendicular axes (X, Y, and Z) and one arm’s axis(W) to pick up and transfer the modules were 700㎜$\times$450㎜$\times$550㎜$\times$650㎜. The arm’s axis moved the teat-cup attachment module, which attached four teat-cup to four teats, detached four teat-cup from four teats, was designed and manufactured by using CAD, CAM and CNC. 3. After 10 replications of exercising the manipulator, mean precision values(positioning error) of X, Y, Z axes wee 0.48㎜, 0.20㎜, 0.19㎜, respectively. Therefore, we conclude the axes to have a precision better than 0.5㎜, had no problem to operate correctly the milking manipulator.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.4
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• pp.340-346
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• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.1012-1016
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• 2002

This paper describes a research work of developing computer-aided design of a product with bending and piercing for progressive working. An approach to the system for progressive working is based on the knowledge-based rules. Knowledge for the system is formulated from plasticity theories, experimental results and the empirical knowledge of field experts. The system has been written in Auto-LISP on the Auto-CAD with a personal computer and is composed of four main modules, which are input and shape treatment, flat pattern layout, strip layout, and die layout modules. The system is designed by considering several factors, such as bending sequences by fuzzy set theory, complexities of blank geometry, punch profiles, and the availability of a press equipment. Strip layout drawing generated in the strip layout module is presented in 3-D graphic forms, including bending sequences and piercing processes with punch profiles divided into for external area. The die layout module carries out die design for each process obtained from the results of the strip layout. Results obtained using the modules enable the manufacturer for progressive working of electric products to be more efficient in this field.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.9 s.174
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• pp.137-146
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• 2005

This paper describes a research work to develop a computer-aided design for the product made by progressive working of bending and piercing. An approach to the system for progressive working is based on the knowledge-based rules. Knowledge for the system is formulated from plasticity theories, experimental results and the empirical knowledge of field experts. The system has been written in AutoLISP on the AutoCAD with a personal computer and is composed of three main modules, which are input and shape treatment, flat pattern layout, strip layout modules. The system is designed by considering several factors, such as piercing and bending sequences by fuzzy set theory, complexities of blank geometry, punch profiles, and the availability of a press equipment. Strip layout drawing generated in the strip layout module is presented in 3-D graphic forms, including piercing and bending sequences with punch profiles divided into for external area. Results obtained using the modules enable the manufacturer for progressive working of electric products to be more efficient in this field.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.9
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• pp.1359-1367
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• 2004

The purpose of this study is to predict the dynamic transmission error of the helical gear system. To do so, the equations of motion in the helical gear system which consists of motor, coupling, gear, torque sensor, and brake are derived. As the input parameters, the mass moment of inertia by a 3D CAD software and the equivalent stiffness of the bearings and shaft are calculated and the coupling stiffness is measured. The static transmission error as an excitation is calculated by in-house program. Dynamic transmission error is predicted by solving the equations of motion. Mode shape, the dynamic mesh force and the bearing force are also calculated. In this analysis, the relationship between the dynamic mesh force and the bearing force and mode shape behavior in gear mesh are checked. As a result, the magnitude of mesh force is highly related with the gear mesh behavior in mode shape. The finite element analysis is conducted to find out the natural frequency of gear system. The natural frequencies by finite element analysis have a good agreement with the results by equation of motion. Finally, dynamic transmission error is measured by the specially designed experiment and the results by equation of motion are validated.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.735-739
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• 2001

This paper describes a research work of developing computer-aided design of a product with bending and piercing for progressive working. An approach to the system for progressive working os based on the knowledge-based rules. Knowledge for the system is formulated from plasticity theorise, experimental results and the empirical knowledge of field experts. the system has been written in AutoLISP on the AutoCAD with a personal computer and is composed of three main modules, which are input and shape treatment, flat pattern layout and strip layout modules. Strip layout of the system is designed by using fuzzy set theory. Process planning is determinated by fuzzy value according to several rules. Strip layout drawing generated in strip layout module is presented in 3-D graphic forms, including bending sequences and piercing processes with punch profiles divided into for external area. Results obtained using the modules enable the manufacturer for progressive working of electric products to be more efficient in this field.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.960-964
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• 2005

Digital Virtual Manufacturing is a technology to facilitate effective product developments and agile productions by digital models representing the physical and logical schema and the behavior of real manufacturing systems including products, process, manufacturing resources and plants. A digital virtual factory as a well-designed and integrated environment is essential for successful applications of this technology. In this research, we constructed a sophisticated digital virtual factory of the shipbuilding company's section steel shop by 3-D CAD and virtual manufacturing simulation. This digital virtual factory can be applied for diverse engineering activities in design, manufacturing and control of the real factory.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.2
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• pp.272-276
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• 2014

In this paper, cable drive mechanism is proposed to implement high reduction gear ratio. Cable drive mechanism has great advantages such as light weight, high degree of freedom about design aspect and zero backlashes. However, it is restrictively utilized for robotic applications because it is difficult to implement high reduction gear ratio more than 10 to 1. Proposed mechanism enables multi-level reductions by adopting seamless winding method (SWM) which links the previous output axis and the next input axis. Consequently, this reduces the mechanical complexity significantly and enables high reduction with only one single wire cable. 3D CAD design was provided and prototype was manufactured.

• Proceedings of the Korea Multimedia Society Conference
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• 2001.06a
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• pp.307-311
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• 2001

신속조형시스템(RP : Rapid Prototyping)용 자료교환 표준인 STL의 자료구조는 단순하고, 조형용 2차원 단면 자료로의 전환이 용이하며, 생산 가공 기술로서의 현대적인 특성(신속성, 조형성, 경제성, 청정성 등)을 가지고 이는 장점이 있는 반면에, STL 3D 좌표값의 기준(좌표계의 원점)이 되는 크기 정보가 없다. 이런 문제를 구현된 STL 뷰어에서는, 스케일링(scaling) 기법과 선형적인 이동 기법을 사용하여 해결하였고, CAD 시스템으로 제작된 파일 자체의 문제점 패싯(facet) 중복, 정밀도, 법선 벡터 값의 오류 등도 검증기(verifier)와 오류 정정기(error corrector)글 구현하여 해결하였다. 제안된 방법으로 구현된 STL 뷰어는 시스템의 안정성과 확장성, 그리고 효율성 측면에서 우수한 성능을 보였으며, 슬라이싱(slicing), 경로 추적기(path tracer)의 전처리기의 역할을 한다.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.692-698
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• 1993

This paper presents a Bin-Picking method in which robot recognizes the positions and orientations of jumbled objects placed in a bin, then picks up distinctive objects from the top of the jumble. The jumbled objects are recognized comparing the characteristics extracted from stereo images with those in the CAD data. The 3-D information is obtained using the bipartite-matching method which compares image of one camera with the image of the other camera Then the robot picks up the object which will cause the least amount of disturbance to the jumble, and places it at a predetermined place. This paper contributes to the basic study of Bin-Picking, and can be used in an automatic assembly system without using part sorting or orienting devices.