• 전기전자학회논문지
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• 제24권3호
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• pp.735-742
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• 2020

반도체 부품을 생산 및 검사하기 위한 다양한 공정 장비에서 상하직선운동과 회전운동을 동시에 수행하기 위한 Pick & Place 모듈이 핵심 모듈로 사용되고 있다. 기존의 Pick & Place 모듈은 회전운동을 직선운동으로 변환하는 변환장치를 사용하여 시스템의 정밀도 및 내구성이 저하되고 모듈의 크기와 무게가 증가되는 단점이 있다. 본 연구에서는 이와 같은 단점을 개선하여 변환장치 없이 상하직선운동을 구현하며, 평균 추력과 이동거리에 제한이 없는 선형모터를 적용한 Pick & Place 모듈을 제안하였다. 체적대비 추력비가 큰 코어 방식의 선형모터를 설계하기 위한 파라미터를 선정하고, 자기해석을 통해 설계 파라미터 변화에 따른 코깅힘의 영향을 분석하여 평균 추력을 유지하며 코깅힘을 저감할 수 있는 설계 파라미터 값을 선정하였다. 제작된 선형모터로 구성되는 Pick & Place 모듈에 대해 평균 추력 및 코기힘을 측정하여 설계값과 비교하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1997년도 추계학술대회 논문집
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• pp.171-174
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• 1997

The great development of semiconductor industry demands the high efficiency and performance of related device, but the pick and place system of semiconductor packaging device can load a few units until nowdays. Although the system can load a lot of units, it can work multiple sort operation. The defect like that causes a low efficiency. Therefore, this paper represents the development of pick and place system which can work multiple sort operation.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2018년도 제57차 동계학술대회논문집 26권1호
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• pp.53-54
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• 2018

본 논문은 ROS 프레임워크를 기반으로 4-자유도를 가진 로봇 팔의 Pick-and-Place 동작 제어를 구현하고, 틱택토 게임에 적용한 사례를 제시한다. 로봇 팔의 Pick-and-Place 동작 제어는 움직임 궤적 계획, 충돌 회피 그리고 역기구학 모델링 연산들과 이를 이용한 복잡한 제어 과정을 요구한다. ROS 프레임워크는 간단한 인터페이스 통해 로봇 팔의 동작을 용이하게 제어할 수 있도록 일련의 연산들과 제어 동작을 통합하여 MoveIt 패키지를 제공하고 있으며, 본 논문은 이 패키지를 기반으로 4-자유도의 로봇 팔에 대한 동작 제어 모듈을 구현하였다. 또한 이를 틱택토 게임에 적용하여 로봇 팔을 적절히 제어함을 확인하였다.

• 로봇학회논문지
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• 제6권4호
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• pp.344-352
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• 2011

A mobile manipulator is a system with a robotic manipulator mounted on top of a mobile base. It has both indoor and outdoor applications for transporting or transferring materials. When a user gives commands, they are usually at high levels such as "move the object to the table," or "tidy the room." By intelligently decomposing these complex commands into several subtasks, the mobile manipulator can perform the tasks with a greater efficiency. One of the crucial subtasks for these commands is the pick-and-place task. For the mobile manipulator, selection of a good base position and orientation is essential to accomplishing this task. This paper presents an algorithm that determines one of the position and orientation of a mobile manipulator in order to complete the pick-and-place task without human intervention. Its effectiveness are shown for a mobile manipulator with 9 degrees-of-freedom in simulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.65-66
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• 2008

• Journal of international Conference on Electrical Machines and Systems
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• 제2권3호
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• pp.275-282
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• 2013

Applications such as vibration isolation, gravity compensation, pick-and-place machines, etc., would benefit from (long-stroke) cylindrical/tubular permanent magnet (PM) actuators with integrated passive gravity compensation to minimize the power consumption. As an example, in component placing (pick-and-place) machines on printed circuit boards, passive devices allow the powerless counteraction of translator including nozzles or tooling bits. In these applications, an increasing demand is arising for high-speed actuation with high precision and bandwidth capability mainly due to the placement head being at the foundation of the motion chain, hence, a large mass of this device will result in high force/power requirements for the driving mechanism (i.e. an H-bridge with three linear permanent magnet motors placed in an H-configuration). This paper investigates a tubular actuator topology combined with passive gravity compensation. These two functionalities are separately introduced, where the combination is verified using comprehensive three dimensional (3D) finite element analyses.

• Nuclear Engineering and Technology
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• 제48권2호
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• pp.482-494
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• 2016

The Feshbache-Kermane-Koonin (FKK) multi-step direct (MSD) theory of pre-equilibrium reactions has been used to compute the single-step cross-sections for some (p,${\alpha}$) reactions using the knock-on and pick-up reaction mechanisms at two incident proton energies. For the knock-on mechanism, the reaction was assumed to have taken place by the direct ejection of a preformed alpha cluster in a shell-model state of the target. But the reaction was assumed to have taken place by the pick-up of a preformed triton cluster (also bound in a shell-model state of the target core) by the incident proton for the pick-up mechanism. The Yukawa forms of potential were used for the proton-alpha (for the knock-on process) and proton-triton (for the pick-up process) interaction and several parameter sets for the proton and alpha-particle optical potentials. The calculated cross-sections for both mechanisms gave satisfactory fits to the experimental data. Furthermore, it has been shown that some combinations of the calculated distorted wave Born approximation cross-sections for the two reaction mechanisms in the FKK MSD theory are able to give better fits to the experimental data, especially in terms of range of agreement. In addition, the theory has been observed to be valid over a wider range of energy.

• Journal of Biosystems Engineering
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• 제26권5호
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• pp.415-422
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• 2001

A seedling pick-up device for vegetable transplanters was developed and its work performance was evaluated at the laboratory. The pick-up device extracts seedlings from a 200-cell tray of seedlings and transfers them to the place where they are to be transplanted into the soil. The device consists of a path generator, pick-up pins and a pin driver. The path generator is a five-bar mechanism comprised of a fixed link, a driving link, a driven link, a connecting link and a slider. The slider is constrained to move along the driven link and a fixed slot of combined straight-line and circular paths. The connecting link joins the driving link and the slider. When the slider moves along the straight-line path of the slot it takes seedlings out from the cell and transfers them to the transplanting hopper when moving along the circular path. A proto-type of the pick-up device was built and tested under the various operational conditions such as age of seedling, approach direction and penetration depth of pins to the cell, holding method of seedling and extracting velocity. The device extracted 30 seedlings per minute with the maximum success ratio of 97% using the seedlings of 23 days old. Some design details were also discussed and suggested to enhance the performance of the device.

• 로봇학회논문지
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• 제15권4호
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• pp.350-356
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• 2020

Workers have been replaced by mobile manipulators for factory automation in recent years. One of the typical tasks for automation is that a mobile manipulator moves to a target location and picks and places an object on the worktable. However, due to the pose estimation error of the mobile platform, the robot cannot reach the exact target position, which prevents the manipulator from being able to accurately pick and place the object on the worktable. In this study, we developed an automatic alignment system using a low-cost camera mounted on the end-effector of a collaborative robot. Camera calibration and pose estimation methods were also proposed for the automatic alignment system. This algorithm uses a markerboard composed of markers to calibrate the camera and then precisely estimate the camera pose. Experimental results demonstrate that the mobile manipulator can perform successful pick and place tasks on various conditions.

• 한국컴퓨터정보학회논문지
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• 제21권3호
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• pp.57-64
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• 2016

This paper deals with the PCB assembly time minimization problem that the PAP (pick-and-placement) machine pickup the K-weighted group of N-components, loading, and place into the PCB placement location. This problem considers the rotational turret velocity according to component weight group and moving velocity of distance in two component placement locations in PCB. This paper suggest heavy-weight component group first pick-and-place strategy that the feeder sequence fit to the placement location Hamiltonean cycle sequence. This algorithm applies the quadratic assignment problem (QAP) that considers feeder sequence and location sequence, and the linear assignment problem (LAP) that considers only feeder sequence. The proposed algorithm shorten the assembly time than iATMA for QAP, and same result as iATMA that shorten the assembly time than ATMA.