• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2002년도 추계학술발표대회 논문집
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• pp.241-244
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• 2002

Recently, the size of glass panel is increased to $1250 mm{\times}1100 mm{\times}0.7 mm$, whose mass is 2.65 kg, which requires much stiffer robot structure. In addition to the high stiffness, the robot hands and wrists for glass panel handling should have miller surface finishing of its outer surface to prevent particles and dusts from adhering on the surface. The maximum height of the robot structure should not be larger than 1500 mm because other automated guided vehicles (AGV) and transfer equipments have been designed within this size limit. The difference of maximum deflections of the four ends of the hands before and after loading the glass panel should be less than 2.0 mm. In this work, the robot hands and wrists for handling large glass panel displays were designed based on the axiomatic design using the finite element method along with optimization routine.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2019년도 춘계학술대회
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• pp.615-617
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• 2019

본 연구에서는 Hands-on robots을 활용한 발명교육프로그램을 통해 초, 중등 학생들의 발명 및 로봇에 대한 인식 변화를 통해 교육프로그램의 효과를 분석하였다. 연구 결과 학생들이 교육 전에 인식한 로봇과 교육 후에 인식한 로봇에 차이가 많았으며 저학년일수록 그 변화가 두드러졌다. 또한, 발명에 대한 인식도 교육을 받기 전에는 로봇이 포함되지 않았던 것에 비해 교육을 받은 후 학생들이 인식한 발명은 로봇이 다수 포함되어 있었다. 로봇에 대한 태도 및 발명에 대한 태도에도 변화가 있었으며 이는 저학년일수록 두드러지게 나타났다. 이를 통해 초, 중등 학생들에게 발명과 로봇에 대한 인식의 변화를 주는데 Hands-on robots를 활용한 발명교육프로그램이 효과적이라고 분석할 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2022-2026
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• 2003

We define that the end effector is the device which interact environment or objects with contact to execute tasks. Up to now, many researchers developed anthropomorphic robotic hands as end effectors. In this paper, we will discuss a problem on the development of a human-scale and motor-driven anthropomorphic robot hand. In this paper, design concept, actuator and transmission, kinematic design and sensing device are presented. By imitating the physiology of human hands, we devised new metacarpalphalangeal joint and interphalangeal joint suitable for human-size robot hands

• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.568-577
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• 2000

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.

• 정보교육학회논문지
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• 제14권1호
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• pp.79-87
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• 2010

지식경제부에서는 학교교육의 다양성 확대를 지원하고 체계적인 로봇교육 방안을 마련하고자, 초등학교 68개교를 대상으로 교구로봇과 교사 연수 등 교사의 로봇활용 지원체제를 구축한 후 교구로봇 시범교육사업을 실시하였다. 따라서 본 논문에서는 초등 방과후학교의 교구로봇 시범교육사업에 대한 현황을 분석하여, 향후 교구로봇 확대사업에 대한 기초 자료 분석결과를 제공하고자 한다. 이를 위하여 시범교육사업 대상학교의 교육 개설 현황, 교구 및 교재 이용, 교 강사 현황과 학생만족도 등을 조사하였다. 그 결과 대부분의 초등학교에서 학생들의 창의력 향상, 로봇에 대한 관심 증대 등의 효과가 있는 것으로 나타났으며, 적극적으로 수업에 참여하고 높은 집중 정도를 나타내는 것으로 분석되었다. 하지만 교재, 교구에 대한 개선 요구사항이 많은 것으로 나타나 학생들의 수준에 맞는 적절한 교재와 학생들의 다양한 활동을 이끌어 낼 수 있는 교구의 구성이 뒷받침 되어야 할 것으로 보인다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.138-141
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• 2002

In this paper, we developed a Master Hand which has 20 potentiometer for getting grasping data of human hands, a Slave Hand which has 20 DOF and five fingers with servo-motors, and a controller for the 7 DOF Arm with Multi-fingered hands. And, we programmed a 3D simulation S/W which controls a Robot System with Multi-fingered hands. A developed Robot System showed good performance in the grasping of an object with known position and shape.

• 로봇학회논문지
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• 제6권1호
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• pp.10-17
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• 2011

This paper deals with researching and designing the fastening parts to be used in order to assemble various Teaching Aids Robots (or Hands-on Robots) with originally incompatible parts supplied by different manufacturers. The suggested fastening parts provide the compatibility among Teaching Aids Robots even though the educational robot customers use incompatible parts from different companies. The designed fastening parts are classified into four set groups such as frame set, sliding-bar set, connector set, and set of chuck and rivet/bolt. Each set of the fastening parts reflects the needs collected from the users, and then some portion of new idea has been added to implement the needs. In this paper, the examples of the Teaching Aids Robots which are assembled with both commercial parts and the designed parts are presented in order to evaluate the compatibility and usability of the suggested fastening parts. As a result, both compatibility and usability of the fastening parts suggested in this paper were proved. The designed fastening parts have been distributed to more than 100 elementary schools nationwide.

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.964-970
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• 2014

In this study we have developed an anthropomorphic robot hand and arm by using tendon-tubes which can be used for people's everyday life as a robot's dynamic power transmission device. Most previous robot hands or arms had critical problem on dynamic optimization due to heavy weight of power transmission parts which placed on robot's finger area or arm area. In order to resolve this problem we designed light-weighted robot hand and arm by using tendon-tubes which were consisted of many articulations and links just like human's hand and arm. The most prominent property of this robot hand and arm is reduction of the weight of robot's power transmission part. Reduction of weight of robot's power transmission parts will allow us to develop energy saving and past moving robot hands and arms which can be used for artificial arms. As a first step for real development in this study we showed structural design and demonstration of simulation of possibility of a robot hand and arm by tendon-tube. In the future research we are planning to verify practicality of the robot hand and arm by applying sensing and controlling method to a specimen.

• 전기전자학회논문지
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• 제17권1호
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• pp.44-50
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• 2013

본 논문에서는 로봇의 팔을 기본 센서로 사용하여 별도의 센서 없이 사람을 따라다니는 햅틱 기반 로봇을 제안한다. 로봇 팔의 관절 각각에는 움직임을 생성하기 위한 모터가 있으며, 로봇 팔에 힘을 가하여 움직이면 각 관절의 각도가 변하면서 모터에서 그 각도를 출력 신호로 내보낼 수 있다. 따라서 사람이 로봇의 팔을 잡고 당기거나 밀면 로봇에서는 그 움직임을 각도로 읽어들이는 촉감 인터페이스로 활용할 수 있다. 구현된 로봇은 사람이 팔로 로봇 팔을 잡아끄는 움직임을 측정하여 움직이며 사람이 손을 잡고 이끎으로서 사람을 따라다닐 수 있다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1994년도 춘계학술대회 논문집
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• pp.390-394
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• 1994

In many cases, tasks are unpredictable and therefore not doable by special-purpose or pro-programble robots. So master/slave type robot hands which combine human perceptions with conventional robot hands are required as robot end effector. These also can be applied to hazardous worksites such as outer space, deep sea and nuclear power plant. In this study, master/slave type robot fingers with 3 joints each are designed and constructed. To control force accurately, TDT(tension difference type) torque sensors are constructed and attached toeachjoints of slave finger and new force reflecting control algorithm is suggested. Finally, experimental results show that the new control algorithm can be successfully applied.