• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.243-246
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• 1996

Modular robot manipulator is a robotic system assembled from discrete joints and links into one of many possible manipulator configurations. This paper describes the design method of newly developed modular robot manipulator and the methodology of a task based reconfiguration of it. New locking mechanism is proposed and it provides quick coupling and decoupling. A parallel connection method is devised and it makes modular robot manipulator working well and the number of components on each module reduced. To automatically determine a sufficient or optimal arrangement of the modules for a given task, we also devise an algorithm that automatically generates forward and inverse manipulator kinematics, and we propose an algorithm which maps task specifications to the optimized manipulator configurations. Efficient genetic algorithms are generated and used to search for a optimal manipulator from task specifications. A few of design examples are shown.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.163-171
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• 2016

A modular manipulator in serial-chain structure usually consists of a series of modularized revolute joint and link modules. The geometric shapes of these modules affect the number of possible configurations of modular manipulator after assembly. Therefore, it is important to design the geometry of the joint and link modules that allow various configurations of the manipulators with minimal set of modules. In this paper, a new 1-DoF(degree of freedom) joint module and simple link modules are designed based on a methodology of joint configurations using a series of Rotational(type-R) and Twist(type-T) joints. Two of the joint modules can be directly connected so that two types of 2-DoFs joints could be assembled without a link module between them. The proposed geometries of joint and link modules expand the possible configurations of assembled modular manipulators compared to existing ones. Modular manipulator system of this research can be a cornerstone of user-centered markets with various solution but low-cost, compared to conventional manipulators of fixed-configurations determined by the provider.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.968-973
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• 1991

Seven axis modular type pneumatic manipulator is composed of electro-pneumatic automation system which contributes to factory automation by performing loading & unloading process successively which is simple routine work of dealing item of machine tool, catapult, assembly machine, welding machine and so on. In this study, we obtained soft and quick movement in a large space and good reliability motion of various function by combining several actuators which perform rotation movement as well as linear movement at the same time. Gripper which apply to rotary sensor transmitted a structure to demanded position. This development item of 5kgf load prevent stick-slip phenomena of stroke end by designing high cushion internal. We develope flexible manipulator which conforms to demand of user by applying multiple sequence program.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.230-234
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• 1989

This paper presents the design of a prototype robot and architecture of a distributed control system. The robot, named as KAEROT, has been developed for the purpose of the reduction of personal radiation exposure and the remote maintenance tasks in nuclear facilities. The mobile system with robotic manipulator has been designed to go up and down stairs. For the dextrous handling, this manipulator will be designed as a redundant type to act like a human arm. Manipulator control system is to be extended easily for further usage with a modular architecture to get independency and reliability by minimizing EMI effects.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.66-72
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• 2000

As the demand for the design of modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for a given task become more and more important. However, the complexity with a large number of design parameters, and highly nonlinear and implicit functions are characteristics of a general manipulator design. To achieve the goal of task based design, it is necessary to develop a methodology to solve the complexity. This paper addresses how to determine the kinematic parameters of a two-degrees of freedom manipulator with parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With simplified example of designing a manipulator with five-bar link mechanism, the methodology for task based design is presented. And it introduces formulations of a given task and manipulator specifications, and presents a new dexterity measure for manipulator design. Also the optimization problem with constraints is solved by using a genetic algorithm that provides robust search in complex spaces.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.575-581
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• 1993

This paper deals with analysis of articulated robot manipulator used for Arc welding and Material handling. Compared with present robot of which weight holding capacity is 6kg, this robot shows wider and symmetric working range for it's serial type mechanism. The link length is determined to have widest working range by using optimal simulation. To reduce body's weight, small AC servo motor is adopted and driving peak torque exerted at each joint is reduced by using dynamic analysis. So it is possible to reduce body's weight by 40% compared with the same class's robot and get wider working range. And by adopting modular design concept, each axis is designed to be changed easily for user's special need and repair.

• Journal of the Korean Society of Systems Engineering
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• v.18 no.2
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• pp.126-139
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• 2022

The need for synthetic automation is increasing in preparation for a gradual decrease in laboratory research manpower due to low birth rate and aging. In this study, the existing laboratory synthesis method is analyzed based on the systems engineering technique. Then, it led to the derivation of the system requirements for a fixed-based robot manipulator capable of recognition, decision and control. The robot is equipped with replaceable modular end-effectors and designed depending on the purpose and process of the synthesis. The robot with an end-effector was implemented as PoC(Proof-of-Concept), and the functions for pipetting automation was verified.

• The Journal of the Korea institute of electronic communication sciences
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• v.5 no.1
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• pp.37-43
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• 2010

In this paper, we implement that hollow type joint using two more than general motor and design for compact structure embedded electronic parts in the development of 7 degree of freedom manipulator. We propose a method to overcome risk and the limit of operating radius which are point out as a limit of previous industrial robot. and also propose to more efficient and stable manipulator implement method.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.8
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• pp.1107-1114
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• 2010

In this paper, a development of a new 5 d.o.f. underwater manipulator which is actuated by electric motors capable of carrying over 20kg payload and of various operation under the water has been studied. The manipulator for applying to midium-sized AUV or ROV has been designed small and light but to handle a heavy 25kg payload. The joint actuator for the manipulator is designed and builted as a new modular typed double oil jacket for waterproofness. Also, superior joint torque performance of the developed joint actuator has been varified through tests in the air. And, a 5 d.o.f. highly perfomable underwater manipulator has been builted applying the developed underwater joint actuators.

• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.270-276
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• 2016

This paper proposes a design methodology of self-reconfigurable kinematics and control engine for modular and reconfigurable robots. A modular manipulator has been proposed to meet the requirement of task adaptation in versatile needs for service and industrial robot area and the function of self-reconfiguration is required to extend the application of modular robots. Kinematic and dynamic contexts are extracted from the module and assembly information and related codes are automatically generated including controller. Thus a user can easily build and use a modular robot without professional knowledge. Simulation results are presented to verify the validity of the proposed method.