• The Journal of the Convergence on Culture Technology
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• v.10 no.3
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• pp.801-807
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• 2024

Linear motion robots are devices that perform functions such as transferring parts or positioning devices, and require high precision. In companies that develop linear robot application systems, human workers are in charge of quality control and fault diagnosis of linear robots, and the result and accuracy of a fault diagnosis varies depending on the skill level of the person in charge. Recently, there have been many attempts to utilize artificial intelligence to diagnose faults in industrial devices. In this paper, we present a system that automatically diagnoses linear rail and ball screw misalignment of a linear robot using transfer learning. In industrial systems, it is difficult to obtain a lot of learning data, and this causes a data imbalance problem. In this case, a transfer learning model configured by retraining an established model is widely used. The information obtained by using an acceleration sensor and torque sensor was used, and its usefulness was evaluated for each case. After converting the signal obtained from the sensor into a spectrogram image, the type of abnormality was diagnosed using an image recognition artificial intelligence classifier. It is expected that the proposed method can be used not only for linear robots but also for diagnosing other industrial robots.

• Journal of Korean Association for Spatial Structures
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• v.3 no.2 s.8
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• pp.91-99
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• 2003

The purpose of this study is to analyze the characteristics of the connector having an influence on the elasto-plastic buckling load of ball-jointed single layer latticed domes. As an analytic model, domes are composed of tubular member elements, balls and connectors. The joint system of members in single layer latticed domes has influence on the buckling load. Therefore, in this paper, the variation of the elasto-plastic buckling load by effects of the connectors characteristics is analyzed. The structural behavior of the connector is investigated by following points: (1) the length of rigid zone, (2) looseness of screw and (3) the diameter of connector. In addition, the elasto-plastic buckling analysis is carried out through the variation of the connectors section of yielding part, and then the buckling mode of the dome is examined. As a result, it is emphasized that the characteristics of the connector have significant effects on the buckling load of latticed domes.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.387-390
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• 2002

In machine tools, the stiffness of feed drive system is very important for high speed and accurate operation. The ball screw driven feed system has small friction, so the longitudinal and twist stiffness are connected directly and affected by each other. As the longitudinal and twist stiffness are participated in total stiffness of feeding system by about ratio of 4:1, the combined stiffness is necessary to compute when stiffness of feed system is estimated. In this paper, calculation of this combined stiffness is derived and applied for an actual ballscrew fled drive system. The static stiffness and 1 st natural frequency of the feed system is measured, and it is proved the difference between estimation and experiment result is less than 6%.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.6 no.4
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• pp.57-64
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• 2007

In the recent years, development of machine tool with high speed feeding system have brought a rapid increase in productivity. Practically, thermal deformation problem due to high speed is, however, become a large obstacle to realize high precision machining. In this study, therefore, the construction of automatic error compensation system to control thermal deformation in high speed feeding system with real time is proposed. To attain this purpose, high speed feeding system with feeding speed 60mm/min is developed and experimental equation for relationship between thermal deformation and temperature of ball screw shaft using multiple regression analysis is established. Furthermore, in order to analyze thermal deformation error, compensation coefficient is determined and thermal deformation experiments is carried out. From obtained results, it is confirmed that automatic error compensation system constructed in this study is able to control thermal deformation error within $15{\sim}20{\mu}m$.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.416-421
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• 2002

The purpose of t his paper is to database each factors from experimental results and develop the servo-controlled feeding system on these database. At first, spring back and bending farce are analyzed by basic theory of bending processing. In database, through practical experiment by the expert various types of bending angel and thickness of plate are tested and classified with SB34P and Aluminum. For the development of servo-controlled feeding system, automatic feeding system is designed and manufactured with ball screw and LM guide and performance of the developed feeding system is tested under condition of standard machine tool examination. Also, Mechanical consideration of mainframe in press brake, development of controller based on NC, program for servo-control are studied. Finally, based on experimental data, the system is operated and compared with theoretical data

• The Journal of Korea Robotics Society
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• v.9 no.4
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• pp.264-271
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• 2014

In this study, we have developed the humanoid joint modules which provide a variety of service while living with people in the future home life. The most important requirement is ensuring the safety for humans of the robot system for collaboration with people and providing physical service in dynamic changing environment. Therefore we should construct the mechanism and control system that each joint of the robot should response sensitively and rapidly to fulfill that. In this study, we have analyzed the characteristic of the joint which based on the target constituting the humanoid motion, developed the optimal actuator system which can be controlled based on each joint characteristic, and developed the control system which can control an multi-joint system at a high speed. In particular, in the design of the joint, we have defined back-drivability at the safety perspective and developed an actuator unit to maximize. Therefore we establish a foundation element technology for future commercialization of intelligent service robots.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.11
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• pp.950-955
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• 2005

A automatic component inserting system for industrial PCB is developed in this paper. This system has not been developed in Korea. Most domestic companies produce PCB manually. This process requires highly-skilled staff. Therefor, we developed a PCB inserting system for automation of the process and improved productivity. There are low parts in this system; press, table, tool change and control part. A hybrid press cylinder with pneumatic and hydraulic is used in the press part. The table part consists of pneumatic actuators, stepping motors and ball-screw mechanism. In the tool change part, upper tools can be exchanged automatically for the inserting of various components. The control part consists of motor drivers, PLCs and power supply.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.956-961
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• 2004

This paper proposes a study on the spherical lens manufacturing by simultaneous 3 axis for NC lathe. We use friction drive system for moving system in experimental diamond turing machine. The diamond turning machine use manufacturing for high quality lens, mirror and many optics products. Especially, the high tech industry require a lot of lens. For example, optical engineering. medical science, space engineering and material engineering etc. The friction drive system is very simple and quiet, compared to ball screw system. We find a problem at the simultaneous 3 axis and suggest a solution. Also, when we manufactured a micro lens. find a problem and solution.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.437-441
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• 1995

In this paper, the ultra precision positioning system for servo motor and piezo actuator using dual servo loop control has been developed. For positioning system having long distance with ultra precision, the combination of global stage and micro stage is required. Servo moter and ball screw are used as a master stage and piezo acuator as a fine stage. By using this system, an positional precision witin .+-. 30nm has been achieved at dual servo loop control. When using micro stage, an positional precision within .+-. 10nm has been achieved. This result can be applied to develop semiconductor equipment such as wafer stepper.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.109.1-109
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• 2002

This paper presents a macro/micro flip chip mounting head system for precise force control. In the proposed macro/ micro system, the macro actuator is conventional do servomotor with a ball screw mechanism and the micro actuator is a voice coil motor(VCM) that consists of four NdFeB magnets and a winded moving coil. For force control, a sensitive strain-gauge force sensor is mounted in the micro actuator. Through harmonic motion between macro and micro actuator, we would like to get precise contact force control when small sized flip chip is mounted on flexible substrate in high speed. In order to show the effectiveness of the proposed macro/micro flip chip mounting head system, we com...