• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1395-1399
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• 2005

Lately, the demand for automation in the industries has increased and automation system has continuously installed in various industrial fields. But automation for shipbuilding industries is more difficult than others. Because we must cope with diverse ship types and owner's various requirements. Nevertheless, for the past several years a steady development on welding robot for shipbuilding has been going on. Existing automatic welding robots are operated separately and do not communicate with each other. In the existing facilities, although a unit of robot has a good performance, and if all of units are not operated systematically, we are not satisfied with results of our system. So we suggest an integration and operation method of system units. System integration methods applied to our system have in many cases lead to lower cost and shorter lead time.

• International Journal of Automotive Technology
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• 제7권2호
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• pp.217-226
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• 2006

To maintain competitiveness in the modern automotive market, it is important to carry out process planning concurrently with new car development processes. Process planners need to make decisions concurrently and collaboratively in order to reduce manufacturing preparation time for developing a new car. Automated generation of a simulation model by using the integrated process plan database can reduce time consumed for carrying out a simulation and allow a consistent model to be used throughout. In this research, we developed a web-based system for concurrent and collaborative process planning and flow analysis for an automotive general assembly using web, database, and simulation technology. A single integrated database is designed to automatically generate simulation models from process plans without having to rework the data. This system enables process planners to evaluate their decisions quickly, considering various factors, and easily share their opinions with others. By using this collaborative system, time and cost put into the assembly process planning can be reduced and the reliability of the process plan would be improved.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.607-608
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• 2006

This article deals the development of Agile and Intelligent Manufacturing System(AIM) for the assembly automation of a tiny ultrasonic actuator used in camera phones and PDAs. The system consists of multi-vision modules, end-effectors, a standard base frame, dispensers, jigs and modular manipulators. Subsystems are a vision system, a force control system and a virtual reality system. Experimental results show that the assembly process for the small components in the various IT applications can be realized by the AIM system.

• 융합신호처리학회논문지
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• 제15권3호
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• pp.104-111
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• 2014

이 논문에서는 자동차의 제동장치에 사용되는 브레이크 모듈 조립 작업을 로봇을 사용하여 자동화한 사례를 소개한다. 브레이크 모듈은 하나의 토크 멤버에 두 개의 브레이크 패드와 두 개의 패드 라이너를 장착하여 조립을 완성한다. 이 조립 작업은 로봇의 방향을 자주 바꾸어 주어야하기 때문에 일반적인 산업용 로봇 핸드를 사용하면 조립 시간이 오래 걸린다. 이 논문에서는 두 가지 방법을 제안한다. 첫 번째 방법은 다섯 개의 그리퍼를 갖는 로봇 엔드 이펙터를 설계, 제작하여 기존의 산업용 6축 머니퓰레이터에 장착하여 조립 작업을 수행하는 방법이다. 이 방법에서는 두 개의 브레이크 패드와 두 개의 패드 라이너를 한꺼번에 파지하여 조립 작업을 수행하며 따라서 하나의 그리퍼 만을 가지고 있는 기존의 엔드 이펙터에 비해 조립 시간을 줄일 수 있었다. 두 번째 방법에서는 첫 번째 방법을 더욱 개선하여 엔드 이펙터가 하나의 부가적인 자유도를 가지도록 설계, 제작하여 기존의 산업용 6축 머니퓰레이터에 장착하였다. 이 방법에서는 전체 로봇 머니퓰레이터가 7 자유도를 갖는 여유자유도 머니퓰레이터가 되어 로봇의 동작을 최소화하면서 조립에 필요한 다양한 로봇 방향을 구현할 수 있었다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1757-1762
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• 2003

For coping with various ship types easily, welding automation using CAD/CAM is demanded and and developed. In this paper we propose a dedicated CAM system which generates MACRO files to control robot manipulators. The paper contains CAD interface, virtual simulation, macro generation and job schedulling. At first, it defines and extracts weldline from CAD data, and generates proper MACRO programs. And it obtains optimum job schedules. This system removes the manual work, and consequently reduces the overall lead time. And it reduces costs and time for developing robot welding programs. This can be expanded to virtual factory simulation technology. Moreover, it is possible to apply this system for automation of Cutting and Painting

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 추계학술대회 논문집
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• pp.173-174
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• 2012

• 대한기계학회논문집A
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• 제24권11호
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• pp.2713-2722
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• 2000

When designing a gear drive, designers should specify tolerances reasonably considering accuracy, cost, and manufacturing capability. In field design, however, designers mostly assign adequate tolerance without correlations between parts and assembly, resulting in iterative design dependent on experts know-how. In order to resolve this, the tolerance design system for a cylindrical gear drive is developed both to support tolerance design automation and to synthesize design processes of part and assembly tolerances. In this research, part tolerances are designed with the databases constructed by ISO, Ks, JIS and bearing catalogue, Assemble tolerance, that is, backlash tolerance is designed by synthesizing part design tolerances stochastically using the formulated assembly relations. This system can include part tolerance and fitting accuracy of shaft adn bearing in practical design. In addition, this system provides field-designers with a synthetic guideline for tolerance design of a gear drive.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.49-54
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• 1992

A flexible robotic assembly cell is modeled using Petri net. A simulator is developed and used to predict the optimal status of the system. The assembly cell of flexible manufacturing system(FMS) pilot plant of Automation and Systems Research Institute(ASRI) in Seoul National University is modeled. The system consists of 3 robots, 4 conveyors, automatic guided vehicle(AGV) and auto-stacker. The simulator is programmed in Turbo C on IBM PC, supporting a simple graphic simulation with pull-down menu. The flexibility of the assembly cell in the FMS plant is guaranteed, since it is possible to predict the optimal status of the system using this simulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.14-19
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• 1998

In this paper, a target approachable force-guided control with adaptive accommodation for the complex assembly is presented. The complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of the manufacturing automation and various robot applications. To make CA successful, both the bounded wrench condition and the target approachability condition should be satisfied simultaneously during insertion. By applying the convex optimization technique, an optimum target approaching twist can be determined at each instantaneous contact state as a global minimum solution. Incorporated with an admissible perturbation method, a new CA algorithm using only the sensed resultant wrench and the target twist is developed without motion planning nor contact analysis which requires the geometry of the part and the environment. Finally, a VME-bus based real-time control system is built to experiment various CA task. T-insertion task as a planar CA and double-peg assembly task as a spacial assembly were successfully executed by implementing the new force-guided control with adaptive accommodation.

• 대한기계학회논문집A
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• 제38권2호
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• pp.219-225
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• 2014

폰 카메라용 렌즈모듈을 구성하는 각 단렌즈의 방향성을 고려한 자동 조합시스템을 개발하였다. 먼저 유동해석을 통하여 렌즈모듈의 조합성 도출 영향인자인 복굴절과 사출성형 조건의 상관성 및 조립 방향성에 따른 수율의 관계를 조사 하였다. 하나의 조립모듈에서 렌즈와 스페이서의 한 세트를 조립하도록 설계하여 생산성 향상 및 장비크기를 최소화하여 기존 장비의 약 25 %정도로 축소가 가능하였다. 또한, 기구적인 정렬기구인 센터링 기구 및 배럴가이드 적용하여 추가적인 비전시스템 없이 사이클 타임의 단축이 가능하였다. 개발한 시스템은 모듈러 설계를 통하여 픽커 및 가이드 등 일부 부품만의 교체로 생산모듈 변경에 대응 가능하도록 하여 급변하는 시장변화 및 소량생산에도 적용 가능하도록 제작되었다.