• Journal of Institute of Control, Robotics and Systems
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• v.13 no.11
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• pp.1137-1145
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• 2007

Palletizing tasks are necessary to promote efficient storage and shipping of boxed products. These tasks, however, involve some of the most monotonous and physically demanding labor in the factory. Thus, many types of robot palletizing systems have been developed, although many robot motion commands still depend on the teach pendant. That is, the operator inputs the motion command lines one by one. This is very troublesome and, most importantly, the user must know how to type the code. We propose a new GUI(Graphic User Interface) for the palletizing system that is more convenient. To do this, we used the PLP "Fast Algorithm" and 3-D auto-patterning visualization. The 3-D patterning process includes the following steps. First, an operator can identify the results of the task and edit them. Second, the operator passes the position values of objects to a robot simulator. Using those positions, a palletizing operation can be simulated. We chose a widely used industrial model and analyzed the kinematics and dynamics to create a robot simulator. In this paper we propose a 3-D patterning algorithm, 3-D robot-palletizing simulator, and modified trajectory generation algorithm, an "overlapped method" to reduce the computing load.

• The Journal of Korea Robotics Society
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• v.17 no.4
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• pp.431-437
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• 2022

This paper deals with a study on the automatic depalletizing robot for parcels loaded in rolltainer of domestic postal distribution centers. Specifically, we proposed a robot system that detect parcels loaded in a rolltainer with a 3D camera and perform de-palletizing using a cooperative robot. In addition, we developed the task flow chart for parcel de-palletizing and the method of retreat motion generation in the case of collision with rolltainer. Then, we implemented the proposed methods to the robot's controller by developing robot program. The proposed robot system was installed at the Anyang Post Distribution Center and field tests were completed. Field tests have shown that the robotic system has a success rate of over 90% for depalletizing task. And it was confirmed that the average tact time per parcel was 7.3 seconds.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.814-819
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• 2007

Palletizing task is well-known time consuming and laborious process in factory, hence automation is seriously required. To do this, artificial robot is generally used. These systems however, mostly user teaches the robot point to point and to avoid time-variable obstacle, robot is required to attach the vision camera. These system structures bring about inefficiency and additional cost. In this paper we propose task-oriented trajectory generation algorithm for palletizing. This algorithm based on $A^{*}$ algorithm and slice plane theory, and modify the object dealing method. As a result, we show the elapsed simulation time and compare with old method. This simulation algorithm can be used directly to the off-line palletizing simulator and raise the performance of robot palletizing simulator not using excessive motion area of robot to avoid adjacent components or vision system. Most of all, this algorithm can be used to low-level PC or portable teach pendent

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.5
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• pp.609-616
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• 2007

Palletizing is necessary to promote the efficiency of storage and shipping tasks. These are, however some of the most monotonous, heavy and laborious tasks in the factory. Therefore many types of robot palletizing systems have been developed, but many robot motion commands still depend on the teaching pendent. That is, an operator inputs the motion command lines one by one. It is very troublesome, and most of all, the user must know how to type the code. That is why we propose a new GUI (Graphic User Interface) Palletizing System. To cope with this issue, we proposed a 'PLP' (Pallet Loading Problem) algorithm, Fast Algorithm and realize 3D auto-patterning visualization interface. Finally, we propose the robot palletizing simulator. Internally, the schematic of this simulator is as follows. First, an user inputs the physical information of object. Second, simulator calculates the optimal pattern for the object and visualizes the result. Finally, the calculated position data of object is passed to the robot simulator. To develop the robot simulator, we use an articulated robot, and analyze the kinematics and dynamics. Especially, All problem including thousands of boxes were completely calculated in less than 1 second and resulted in optimal solutions by the Fast Algorithm.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.1
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• pp.37-44
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• 2018

In this work, a 4-DOF industrial robot system with three translational and one rotational motions which is widely used in palletizing applications is developed. In order for small robot manufacturing companies to develop their own robot systems for CNC machining and/or general automations, the analysis and design methods of a 4-DOF robot manipulator are presented and the development of a PC-based robot controller with EtherCAT are introduced. It is noted that the robot controller is developed by using Simulink Real-Time, which can provide an integrated environment of easier control algorithm development and data logging. Through position control and accuracy/repeatability measurement results, the developed robot prototype has comparable performances with commercial counterparts. In the future works, the advanced functions of industrial robots such as kinematic calibration, vibration suppression control, computed torque control, etc. will be investigated.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.19 no.12
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• pp.62-69
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• 2020

The demand for industrial robots is proliferating with production automation. Industrial robots are used in various fields, such as logistics, welding, and assembly. Generally, six degrees of freedom are required to move freely in space. However, the palletizing robot used for material management and logistics systems typically has four degrees of freedom. In designing such robots, their main parts, such as motors and reducers, need to be adequately selected while satisfying payload requirements and speed. Hence, this study proposes a practical method for selecting the major parts based on dynamic analysis using ADAMS. First, the acceleration torques for the robot motion were found from the analysis, and then the friction torques were evaluated. This study introduces a constant-speed torque constant instead of friction coefficient. The RMS torque and maximum power of each motor were found considering the above torques. After that, this study recommends the major specifications of all motors and reducers. The proposed method was applied to a palletizing robot to verify the suitability of the pre-selected main parts. The verification result shows that the proposed method can be successfully applied to the early design stage of industrial robots.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.2
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• pp.54-63
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• 2022

Among the various industrial robots, palletizing robots have received particular attention because of their higher productivity in accordance with technological progress. When designing a palletizing robot, the main components, such as the servo motors and reducers, should be properly selected to ensure its performance. In this study, a practical method for selecting the motors and reducers of a robot was proposed by performing the dynamic analysis of rigid-flexible multibody systems using ANSYS and ADAMS. In the first step, the links and frames were selected based on the structural analysis results obtained from ANSYS. Subsequently, a modal neutral file (MNF) with information on the flexible body was generated from the links and frames using modal analysis through ANSYS and APDL commands. Through a dynamic analysis of the flexible bodies, the specifications of the major components were finally determined by considering the required torque and power. To verify the effectiveness of the proposed method, the analysis results were compared with those of a rigid-body model. The comparison showed that rigid-flexible multibody dynamic analysis is much more useful than rigid body analysis, particularly for movements heavily influenced by gravity.

• Proceedings of the Korea Society for Simulation Conference
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• 1998.10a
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• pp.41-45
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• 1998

본 연구는 자동물류센터에서 수요자들에게 운송하기 위한 제공품의 Order-Picking을 위한 로봇장착 적하장비를 이용할 경우의 최적 운송예약계획 수립을 위한 시뮬레이션 모델의 연구이다. 로봇장착 적하장비Order-Picking을 할 경우의 물류흐름의 효율성을 분석하고 시스템의 성능산정을 위한 시뮬레이션 모델을 개발하고 이를 이용한 최적 운송예약시스템의 운영계획을 수립하였다. 운송예약으로부터 운송량, 운반-도착지점 및 요구시산 등의 정보를 On-Line System으로 예약 받고 운송회사의 운송능력 등을 고려하여 최적운송계획을 수립하였다. 이를 위한 전산 프로그램을 개발하고 Sample 예제의 결과를 보였다.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.16 no.5
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• pp.230-238
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• 2023

Small and medium-sized food manufacturing enterprises are largely reliant on manual labor, from inputting raw materials to palletizing the final product. Recently, there has been a trend toward smartness and digitization through the implementation of robotics and sensor data technology. In this study, we examined the effectiveness of improvement through 3D simulation on two repetitive work processes within a food manufacturing company. These processes involve workers whose speed cannot match the capacity of the applied equipment. Two manual processes were selected: the weighing and packing process performed by workers after skewer assembly, and the manual batch process of counting randomly delivered frozen foods, packing (both internal and external), and palletizing. The production volume, utilization rate, and number of workers were chosen as verification indicators. As a result of the simulation for improving the 3D process, production increased by 13.5% and 56.8% compared to the existing process, respectively. This was particularly evident in the process of applying palletizing robots. In both processes, as the utilization rate and number of input workers decreased, robots could replace tasks with high worker fatigue, thereby reducing work overload. This study demonstrates the potential to visually compare the process flow improvement using 3D simulations and confirms the possibility of pre-validation for improvement.