• 로봇학회논문지
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• 제19권2호
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• pp.176-187
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• 2024

Recently, automated solutions using collaborative robots have been emerging in various industries. Their primary functions include Pick & Place, Peg in the Hole, fastening and assembly, welding, and more, which are being utilized and researched in various fields. The application of these robots varies depending on the characteristics of the grippers attached to the end of the collaborative robots. To grasp a variety of objects, a gripper with a high degree of freedom is required. In this paper, we propose a service automation system using a multi-degree-of-freedom gripper, collaborative robots, and vision sensors. Assuming various products are placed at a checkout counter, we use three cameras to recognize the objects, estimate their pose, and create grasping points for grasping. The grasping points are grasped by the multi-degree-of-freedom gripper, and experiments are conducted to recognize barcodes, a key task in service automation. To recognize objects, we used a CNN (Convolutional Neural Network) based algorithm and point cloud to estimate the object's 6D pose. Using the recognized object's 6d pose information, we create grasping points for the multi-degree-of-freedom gripper and perform re-grasping in a direction that facilitates barcode scanning. The experiment was conducted with four selected objects, progressing through identification, 6D pose estimation, and grasping, recording the success and failure of barcode recognition to prove the effectiveness of the proposed system.

• 한국건설관리학회:학술대회논문집
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• 한국건설관리학회 2006년도 정기학술발표대회 논문집
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• pp.642-647
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• 2006

최근 우리 군은 장병들의 삶의 질 향상과 군 구조 개편에 따른 이동성능 향상을 위해 모듈러 공법으로 노후시설 개선사업을 추진하고 있고 향후에도 본 공법에 대한 수요는 점차 증가할 것으로 예상된다. 그러나 2005년부터 본 공법을 적용하여 우리군에 시공한 시설들은 아직 초기단계로서 설계도서에 모듈러 건축특성을 충분히 반영하지 못하고 일부 공사를 습식공법으로 시공하였으며 또한 현장제작 비율이 높아 공기가 지연되고 품질이 저하되는 사례가 발생하였으므로 단계별로 문제점을 분석하고 개선방안을 제시하고자 한다. 본 연구에서 그동안 준공된 시설을 분석한 결과, 현장작업과 습식공법을 최소화할 수 있도록 설계하여야 하며 생산성향상을 위해 자동화 설비를 구축하여야 하고 단위모듈 이송 전 이동경로에 대해 주행시험을 실시하여 도로조건을 확인해야 하며 현장조립 시에는 모듈간 접합 및 연결방법을 개선하여 품질을 향상시켜야 할 것이다.

• 대한조선학회논문집
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• 제40권2호
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• pp.49-56
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• 2003

The welding deformation of a hull structure in the shipbuilding industry is Inevitable at each assembly stage. The geometric inaccuracy caused by the welding deformation tends to preclude the introduction of automation and mechanization and needs the additional man-hours for the adjusting work at the following assembly stage. To overcome this problem, a distortion control method should be applied. For this purpose, it is necessary to develop an accurateprediction method which can explicitly account for the influence of various factors on the welding deformation. The validity of the prediction method must be also clarified through experiments. This paper is aimed at deriving the simple prediction model for fillet welding deformations. For this purpose, the thermal elasto-plastic analysis varying the welding conditions and plate thickness has been performed. On the basis of numerical results, the formulae for angular distortion and transverse shrinkage have been derived through the regression analysis. Experimental work has been also carried out to clarify the validity of numerical results. It has been found that the numerical results show a good agreement with those of experiments

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.243-247
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• 2004

The dynamometers which had made in a long time ago could not control the input/output quantity of water minutely and was sensitive to a noise since it was controlled by an analog control method. Therefore, a fully digital controlled system was urgently required to be robust against various noises. In this paper, the new system which can control the amount of circulated water in dynamometer was developed. This system is consisted of an industrial digital type controller and a servo motor. The industrial PLC was used as a main controller for the developed system, and the actuator and servo motor were used to control the inlet and outlet valve independently. The torque signal of load cell was fed back to the main controller to regulate the diesel engines load. Generally, an input/output valve position of the old dynamometer was fixed with a proper situation for an engine output test and the torque was changed according to the time interval. However, the torque value for the dynamometer could not be constantly kept because of the variation of the input water flow and fluid characteristic. Therefore, the automatic control of an inlet and outlet valve should be performed to keep the constant torque. So, the PID control method was applied to solve this problem. Also, the development of a web-based remote control system was described in this paper. This software will give us the convenience of operation, the more efficient operations, and the reduced operator workload for operation of the dynamometer. The application results of the system have been verified at actual diesel engine field.

• 한국정밀공학회지
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• 제18권1호
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• pp.98-103
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• 2001

Machining is the commonly used process in the manufacturing of prototypes. This process offers several advantages, such as rigidity of the machine, precision of the machine, precision of the operation and specially a quick delivery. The weight and immobility of the machine support and immobilize the part during the operation. However, despite these advantages it shows, machining still presents several limitations. The immobilization, location and support of the part are referred to as fixturing or workholding and present the biggest challenge for time efficient machining. So it is important to select and design the appropriate fixturing assembly. This assembly depends on the complexity of the part and the tool paths and may require the construction of dedicated fixtures. With traditional techniques, the range of fixturable shapes is limited and the identification of suitable fixtures in a given setup involves complex reasoning. To solve this limitation and to apply the automation, this paper presents the Reference Free Part Encapsulation(RFPE) and implementation of the encapsulation system. The feature-based modeling system and the encapsulation system are implemented. The small part of which it is difficult to find out the appropriate fixturing assembly is made by this system.

• 한국정밀공학회지
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• 제23권3호
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• pp.132-138
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• 2006

With a great requirement of innovation caused by severe competition current companies are encouraged to improve bottleneck areas in production procedure. Specially a chassis line in which assembly processes are mainly carried out manually has the large potential to be automated. The putting of spare tire in trunk in chassis line is still dominated by free dropping method. Through that, parts in trunk such as luggage room lamp, jack and so on were damaged and the complaint of assembler in the next process was occurred due to physical strength. To eliminate these, tile robot system was in this paper developed to place spare tire on the mounting hole in trunk. The movement of robot was synchronized with the velocity of chassis hanger. With this automated system the productivity of the chassis line was increased from the benefits such as simplification of the system using only robot without the mechanically synchronized transport, inserting spare tire into the right position with robot, reduction of damaged parts and production of various type of car.

• 한국시뮬레이션학회논문지
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• 제7권1호
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• pp.15-26
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• 1998

In building a shell-based FMS, which is known as one of the top-down approaches in the field of factory automation, we may take a hybrid simulation into consideration. The modeling of a hybrid simulation consists of real physical entities, virtual simulation, and central clock algorithm, etc. to carry out the whole system operation. In this paper, we sow a way to construct a hybrid simulation software system in manufacturing environments. We bring in the object-oriented methodology in system design and it can contribute in dealing with a wide variety of production types and configurations. Some classes such as project, product, process, order, schedule, stage are defined. These are used and tested by implementing a specific LSI circuit assembly line process.

• 한국기계가공학회지
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• 제18권12호
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• pp.67-72
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• 2019

In manufacturing sites that process and produce parts in large quantities for the automotive and electronics industries, users require the reducing of costs and shortened delivery times. To meet these demands, an increase in the number of processes and an decrease in assembly times need to be addressed. Gantry loaders currently on the market in Korea are mostly used for processing lightweight and simple shapes and are not suitable for conveying and processing complex shapes such as automobile engines and aircraft parts. This makes it difficult to mount the material in place. This study aims to smoothen the transportation of complex shapes through the development of jigs and various approaches in the installation of the feed shaft by researching the gantry loader system for transporting multiple materials with complex shapes.

• Transactions on Control, Automation and Systems Engineering
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• 제2권1호
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• pp.62-68
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• 2000

Fixtures are used in almost all phases of machining and assembly to position and hold a part accurately. The class of fixture which consists of 3 locators and 1 clamp(3L/1C) is known as the minimal set that can provide form closure which is a kinematic constraint condition for preventing all planar motions. This type of fixtures has advantages in terms of the number of fixture elements required, the time for clamping, and so on. However it is not widely used in industry because reliable loading scheme has not been reported. In this paper, we propose a method to load the class of 3L/1C fixtures using compliant motions. The planner is developed for synthesizing compliant motions to achieve precise final fixture configuration in the presence of sensing and control uncertainties. A novel approach to eliminate uncertainty in part orientation by adding one extra fixture element called an aligning pin is proposed.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2007년도 정기 학술대회 논문집
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• pp.84-89
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• 2007

In this paper, we introduce a new technique for automatic construction of steel frames in high-rise buildings. Basically, we combine advanced robotic technologies to building construction techniques. Four main topics will be developed such as: 1) Planning and synthesis of automatic construction system, 2) Development of construction factory system with climbing oil-pressured robot, 3) Core techniques for automatic assembly for steel frames, and 4) Intelligent resource management system. We expect that this new technique will increase the construction efficiency and will alleviate the manpower shortage problem in the aging society.