• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.3
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• pp.155-162
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• 2018

Delta robots are usually used for industrial manufacturing, but heavy weight and expensive price have been obstacles to rapid propagation of robots in the field. The goal of this research is to make light-weight and price-competitive delta robots. To reduce the weight, we used plastic material for the arm link, and to reduce the price, we used a step-motor as the main actuator. First we formulated the equations of inverse kinematics for the designed delta robot and then verified these equations by using multibody-dynamics simulation. An algorithm of motion control was developed and applied to the motion-processing unit using a timer-interrupt of 8 milliseconds. Finally, we tested the performance of the new delta robot by checking its control of motion along line segments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.399-400
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• 2011

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.67-68
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• 2006

In this paper, a new revolute cooperating robot arms with 12 d.o.f was developed for autonomous moving robots. The robot ann was designed to have the load capacity of 10 Kg. For this, a new joint actuator based on the fourbar link mechanism was employed. As a control system for the robot arm, a distributed control system was developed composed of the main controller and five motor controller for the ann joints. The main controller and the motor controller were developed using the ARM microprocessor and the TMS320c2407 processor, respectively. To validate the performance of the robot system, an experiment to support 10 Kg payload was performed.

• Journal of Advanced Marine Engineering and Technology
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• v.32 no.2
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• pp.343-350
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• 2008

In this paper, a six degree-of-freedom robot arm which is very light but capable of delivering heavy loads was studied. The proposed robot arm has much higher load capacity than conventional robot arms actuated by motors with speed reducers such as the harmonic drive since a new type of robot actuator based on a closed chain mechanism driven by the ball screw was adopted. Analysis on the design scheme and on the mechanism of the joint actuator of the robot arm were made. Since the robot arm was designed very light, it has deflection in the links. To analyze this, a finite element analysis on the structure of the designed robot links was made using ANSYS software. Verifying experiments on the performance of high load capacity of the robot arm was performed by loading heavy weights on the robot arm. Through experiments. the correctness of the numerical analysis was also verified.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.523-527
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• 1991

A rubber pneumatic controlled actuator is a new actuator. It is very light With a high power-to-weight ratio. In this thesis, a control method for a two link robot arm using the rubber actuator is developed. The structure of the servo control is made up of two sections. The position control is performed by PID feedback control. The air pressure is controlled by Servo Valve Unit driven by PWM and the control input is compensated by software operation. The numerical simulation of this control method to two link robot arm is presented to verify the performance of the closed loop system. The actual control of the real two link robot arm with rubber actuator is taken and its results are discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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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.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.9
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• pp.923-930
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• 2013

These days, the interests on the high speed handling robots are increasing because it is important to get down the unit cost of production to get the price competitiveness. The parallel kinematic mechanism is more suitable to implement the high speed robot system as well known. The moving parts of the high speed parallel robot have to be designed for light weight. But the vibration motion is induced by the light weight links because they drive in high acceleration and deceleration. In this reason, the structural analysis of the high speed parallel kinematic robot is very important in the design process. In this paper, the study on the structural analysis of a high speed parallel robot has been done and the research results will be introduced.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.2
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• pp.318-324
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• 2010

In this paper, the structure of the gravity compensator has been designed and applied to a light structure of a new 6-axis robot manipulator to enhance its torque performance. Also, analyses on the kinematics and inverse-kinematics of the manipulator have been performed. An FEM analysis has been performed on the structure of robot links to have an excellent performance of delivering 25 kg payload despite of 30kg weight, which is very light compared with other manipulators. Through the FEM analysis, the stability on the vending or fracture of the links of the robot manipulator has been verified.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.361-366
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• 2015

In this paper, we propose a novel surveillance throwing robot which is compact, light-weight and has an efficient shock absorption mechanism. The throwing robot is designed in a spherical shape to be easily grabbed by a hand for throwing. Also, a motor-wheel linking mechanism is designed to be robustly protected from shocks upon landing. The proposed robot has a weight of 2.2kg and the diameter of its wheels is 150 mm. Through the field experiments, the designed robot is validated to withstand higher than 13Ns of impulse.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.171.2-171
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• 2001

This paper presents a force control of a arm of walking training robot. The current gait training apparatus in hospital are ineffective for the difficulty in keeping constant unloading level and constraining patients to walk freely. The proposed walking training robot is designed to unload body weight effectively during walking. The walking training robot consists of unloading manipulator and mobile platform. The manipulator driven with a electro-mechanical linear mechanism unloads body weight in various level. The mobile platform is wheel type, which allows to patients unconstrained walking. Unloading system with electro-mechanical linear mechanism has been developed, which has advantages such as low noise level, light weight, low manufacturing cost and low power consumption. A system model for the manipulator ...