• 한국산업융합학회 논문집
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• 제18권3호
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• pp.173-180
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• 2015

In this paper, we propose a new precise control technology of robotic gripper for assembling and handling of part. When a robot manipulator interacts mechanically with its environment to perform tasks such as assembly or edge-finishing, the end-effector is thereby constrained by the environment. Therefore grasping force control is very important, since it increases safety due to monitoring of contact force. A comparison of various force control architecture is reported. Different force control methods can often be configured to achieve similar results for a given task, and the choice of control algorithm depends strongly on the application or on the characteristics of a particular robot. In the research, the adjustable gripping force can be controlled and improved the accuracy using the artificial intelligence techniques.

• 한국산업보건학회지
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• 제15권3호
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• pp.153-159
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• 2005

The purpose of this study was to assess the ergonomic risks of lifting tasks in a marine diesel engine manufacturing industry using the National Institute for Occupational Safety and Health(NIOSH) Revised Lifting Equation(NLE). Average Lifting Index(LI=Weight of Load/Recommended Weight Limit) of a total number of 45 lifting tasks was $1.6{\pm}0.7$. The LIs were above 1 at 34 tasks(75.6%), and above 2 at 11 tasks(24.4%). Parts management showed the highest average LI value (LI=2.3) in all departments, which resulted from high frequency and heave load of lifting. The common and significant ergonomic risk factors in the processes were the heavy weight of diesel engine parts and the long horizontal distance. In addition, some lifting tasks had such potential risk factors as the long vertical distance, the high frequency of lifts or the long work duration.