• Journal of the Korea Society of Computer and Information
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• v.21 no.3
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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.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.733-737
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• 1996

This paper presents a method to measure tile position and orientation of a prismatic polyhedral object (of unknown width, length, height, and number of vertices) using machine vision. The width, length, and origin of workplace where an object is lying are defined as Preliminary operation. The edges of an object are detected from captured image using least sum of square error. The information of an object is determined from the geometric relationships between edges. As an user interface, a versatile image processing program is developed in several modules, and renders a very useful 3D measurement at a limited constraints when adopted in automation of production process. The flexibility of camera position from the algorithm developrf can be used for automated pick and place operations and feeding workpiece u: ;ing assembly robot.

• Journal of the Korea Safety Management & Science
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• v.23 no.4
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• pp.93-104
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• 2021

In this paper, we propose a method for diagnosing overload and working load of collaborative robots through performance analysis of machine learning algorithms. To this end, an experiment was conducted to perform pick & place operation while changing the payload weight of a cooperative robot with a payload capacity of 10 kg. In this experiment, motor torque, position, and speed data generated from the robot controller were collected, and as a result of t-test and f-test, different characteristics were found for each weight based on a payload of 10 kg. In addition, to predict overload and working load from the collected data, machine learning algorithms such as Neural Network, Decision Tree, Random Forest, and Gradient Boosting models were used for experiments. As a result of the experiment, the neural network with more than 99.6% of explanatory power showed the best performance in prediction and classification. The practical contribution of the proposed study is that it suggests a method to collect data required for analysis from the robot without attaching additional sensors to the collaborative robot and the usefulness of a machine learning algorithm for diagnosing robot overload and working load.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.6
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• pp.187-192
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• 2007

In this paper we present a 3-DOF manipulator of which task is to unload the product from a micro factory. The micro factory developed by KITECH presses sheet metal to produce a micro valve that is used for micro pump. Our research is focused on the development of a small-sized unloading manipulator which works in the narrow workspace between the dies. We have implemented pick-and-place task with vacuum pressure and 3-DOF motion with stepping motors. We present the design procedures and analysis required in each module.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.25 no.5
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• pp.354-361
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• 2016

Parallel robots are usually used for performing pick-and-place motion to increase productivity in high-speed environments. The present study proposes a high-speed parallel robot and a control approach to improve the tracking performance for the purpose of handling a solar cell. However, the target processes are not limited to the solar cell-handling field. Therefore, a delta-type parallel manipulator is designed, and a ball joint structure is specifically proposed to increase the allowed angle that would meet the required workspace. A control algorithm considering the synchronization between multiple joints in a closed-chain mechanism is also suggested to improve the tracking performance, where the tracking and synchronization errors are simultaneously considered. In addition, a prototype machine with the proposed ball joint is implemented. A satisfactory tracking performance is achieved by applying the proposed control algorithm, with a cycle time of 0.3 s for a 0.1 kg payload.

• Journal of the Semiconductor & Display Technology
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• v.23 no.2
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• pp.1-5
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• 2024

In the electronics industry, a lot of research and development is being conducted on electronic component supply, component alignment and insertion, and automation of soldering on the back side of the PCB for automatic PCB assembly. Additionally, as the use of electronic components increases in the automotive component field, there is a growing need to automate the alignment and insertion of components with leads such as transistors, coils, and fuses on PCB. In response to these demands, the types of PCB and parts used have been more various, and as this industrial trend, the quantity and placement of automation equipment that supplies, aligns, inserts, and solders components has become important in PCB manufacturing plants. It is also necessary to reduce the pre-setting time before using each automation equipment. In this study, we propose a method in which a vision system recognizes the type of component and simultaneously corrects alignment errors during the process of aligning and inserting various types of electronic components. The proposed method is effective in manufacturing various types of PCBs by minimizing the amount of automatic equipment inserted after alignment with the component supply device and omitting the preset process depending on the type of component supplied. Also the advantage of the proposed method is that the structure of the existing automatic insertion machine can be easily modified and utilized without major changes.