• Journal of Welding and Joining
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• v.27 no.6
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• pp.55-61
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• 2009

This study aims for determination of cutting work envelope of an articular robot for H-beam cutting. The robot has its own work envelope. The cutting of piece with groove requires the specific position of the torch which contracts the work envelope. This study suggested the new method to determine the cutting work envelope for this case. The method simplified the problem by use of the combination of inverse kinematics and forward kinematics. The method was used for cutting the H-beam with groove. The cutting work envelope was determined easily. The result was verified by 3D simulation system which implements the articular robot with 6 axes and the H-beam in the virtual shop.

• Journal of the Korean Society for Precision Engineering
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• v.2 no.1
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• pp.41-52
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• 1985

This study is a step in developing the sliding mode control methodology for the robust control of a class of nonlinear time-varying systems. The methodology uses in its idealized form piecewise continuous feedback control, resulting in the state trajectory "sliding" slong a time-varying sliding surface in the state space. This idealized control law achieves perfect tracking. The method is applied to the control of a two-link manipulator handling variable loads in a flexible manufacturing system environment with noise. The result through simulation is that the tracking problem of articular robot with high precision can be realized by using the variable structure system (VSS) theory. The motions of articular robot were insensitive to various payloads. payloads.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.2 s.191
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• pp.64-72
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• 2007

Many human-body motions such as walking, running, jumping, etc. require a significant amount of power. To achieve a high power-to-weight ratio of the humanoid robot system, this paper proposes a new design of the bio-mimetic leg mechanism resembling musculoskeletal system of the human body. The hip joints of the system considered here are powered by 5 human-like bi-and mono-articular muscles, and the joints of knee and ankle are redundantly actuated by both bi-articular muscles and joint actuators. The kinematics for the leg mechanism is derived and a kinematic index to measure force transmission ratio is introduced. It is demonstrated through simulation that incorporation of redundant muscles into the leg mechanism enhances the power of the mechanism approximately 2 times of the minimum actuation.

• Journal of Animal Environmental Science
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• v.15 no.1
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• pp.29-36
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• 2009

The authors of this study have developed a robot milking system composed of a multi-articular manipulator, a teat-cup attachment system, and an image processing system. In order to verify the efficacy of this system, we have conducted a performance analysis and measurement experiment of milk yield, using dairy cattle. It was concluded that teat recognition using the image processing system, teat-cup attachment, and detachment system did not binder milking. The milking yield of the robot milking system was analyzed based on a lactation curve. As a result, it was determined that the use of a robot milking system had no significant effects on milking yields. The robot milking system described in this study is designed specifically with a focus on teat-cup attachment and detachment performance, as well as the effect of these factors on milking yield. In the future, in-depth studies regarding the washing of the teats prior to milking, teat massage, pre-treatment and post-treatment processes after milking, and disinfection processes shall be conducted, in order to render this system feasible for use in an actual milking parlor.