• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.875-878
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• 2004

The noise and vibration diagnostic of the industrial robot reducer is ultimately the purpose. We evaluated a noise and vibration tendency of the industrial robot reducer to be made in the outside (RV reducer) through the experiment. Also, we compared the RV reducer to the industrial robot reducer (RD reducer) in the domestic. We measured the noise level with the sound level meter and analyzed the vibration tendency with the waterfall plot. Through the comparison of RV reducer and RD reducer diagnose the industrial robot reducer. We guessed the improvement direction of RD reducer. (The domestic's industrial robot reducer).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.479-483
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• 1987

The reducers are widely used to reduce output speed and to amplify driving torque of actuator for industrial robots and many industrial units. But the vibration of robot, which is affected by the reducer, becomes a problem for robot which has to move a driven part with high accuracy. This paper compares experimentally the vibration characteristics of the reducer for industrial robot.

• 대한기계학회논문집A
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• 제28권5호
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• pp.539-546
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• 2004

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, a new type of the robot actuator based on the four-bar-link mechanism driven by the ball screw was proposed and constructed. Also, a new type of a revolute-jointed robot manipulator composed of the developed actuators was developed. The base axis is actuated by the motor with the conventional speed reducer, but the other axes are actuated by the proposed actuators. The kinematics and dynamics of the robot were analyzed, and the performance test of the robot was made. Through the test results, the performance of superior load capacity versus the robot weight is shown.

• 제어로봇시스템학회논문지
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• 제21권6호
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• pp.577-582
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• 2015

This paper proposes an efficient detection of absolute position of a robot joint using two incremental encoders. We considers a robot joint comprising a motor, a reducer, two encoders, and a motor drive. An incremental(first) encoder provides motor's rotor position or input position of reducer while another incremental(second) encoder does output position of the reducer. A table is made where the relationship between the first and the second encoder counts is recorded. The key point is placed where the table is constructed: when a pulse occurs in the second encoder, there exists a corresponding unique count value of the first encoder. The absolute position is detected using the table by searching the second encoder position corresponding to the first encoder count value when a pulse occurs in the second encoder. The proposed method needs a small rotation, as just one second encoder's pulse angle, for the initial absolute position detection.

• 한국지능시스템학회논문지
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• 제16권3호
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• pp.315-320
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• 2006

산업 현장에서는 많은 종류의 감속기들이 사용되고 있다. 그 중 로봇에서는 사이클로이드(cycloid) 치형 혹은 인벌루트(involute) 치형을 가진 고정밀도의 감속기를 사용한다. 그 이유는 로봇 시스템에서는 위치 제어를 하는데 있어서 고정밀의 감속기를 사용하는 것이 필수적이기 때문이다. 본 논문에서는 기본적으로는 삼각형 치형을 가지고 있지만 새로운 직선치형을 갖는 로봇 감속기(RSR)를 제안한다. 제안한 감속기는 유한요소 해석법을 이용한 강도, 응력, 강성 테스트에서 좋은 결과를 얻을 수 있었으며, 편심계수를 변화시켜 최적의 치형 운동을 얻을 수 있도록 설계하여 응력이 적게 걸리고 소음을 낮출 수 있도록 하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.540-543
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• 2002

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To overcome this, we proposed and constructed a new type of the robot actuator which is four-bar-link mechanism driven by the ball screw. We developed a new type of a revolute-jointed robot manipulator composed of four axes. The base axis is actuated with conventional speed reducer, but the others are actuated by the proposed actuators. We analyzed the mechanism of the actuators of the robot joints, and developed the dynamics model. The dynamics are expressed in the joint coordinates, and then they are mapped into the sliding coordinates of the ball screw. The structure specifications of the manipulator shown.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.91-92
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• 2006

High precision speed reducer which has a cycloid or involute teeth profile, used to in Robot. In this study, suggest to a new teeth profile, which has basically a triangle teeth profile. We had a stress analysis compare to convenient speed reducer for teeth profile. We has a good results in new teeth profile for strength, stress and stiffness.

• 드라이브 ㆍ 컨트롤
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• 제16권3호
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• pp.33-41
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• 2019

This study presents the development of a lifetime test bench for the strain wave reducer which is a precision gear reducer of the robot to realize fault diagnosis and failure prognostics. To this end, the lifetime test bench was designed to detect the vertical forward/reverse direction rotation load. Through the lifetime test bench, it is possible to apply the same load spectrum from robot working scenarios. We developed a data integration gateway for fault data collection. Through the development of dedicated software for fault diagnosis and failure prognostics, these data from vibration, noise and temperature sensors were collected and analyzed along with the operation of the lifetime evaluation.

• 한국지능시스템학회논문지
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• 제17권1호
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• pp.19-25
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• 2007

로봇 시스템에서 사용되는 정밀 감속기 중에 사이클로이드 감속기는 높은 성능을 갖추고 있다. 이러한 사이클로이드 감속기를 설계하는 경우에는 많은 요소들을 고려해야 한다. 우선 기본 개념을 바탕으로 치형의 기하학적 분석이 그려져야만 한다. 그리고 기어의 이에 걸리는 하중과 스트레스, 수정계수를 정확히 계산하여야 한다. 마지막으로는 사이클로이드 치의 설계에 활용하기 위한 컴퓨터 소프트웨어는 기하학과 힙의 방정식을 기초로 발전할 필요가 있다. 이 논문에서 사이클로이드 감속기 설계 전문가 시스템은 비주얼C++를 사용하여 개발되어 진다. 그러므로 가장 중요한 요소는 사용자가 간단한 입력값을 넣음으로써 자동으로 구할 수 있다는 것이다.

• 한국정밀공학회지
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• 제22권6호
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• pp.98-108
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• 2005

Conventional robot manipulators actuated by motors with the speed reducer such as the harmonic drive have weakness in the load capacity, since the speed reducer does not have enough strength. To improve this, a new type of robot actuator based on the four-bar-link mechanism driven by the ball screw was constructed. Also, a new type of revolute robot manipulator composed of the developed actuators was developed. But, modelling errors occur due to the off-set from the nominal model since the exact modeling of the complex inertia variation of the four-bar-link actuator is very difficult. To control the proposed robot along the prescribed trajectory, a sliding mode control algorithm was applied with compensation function for the modeling errors. To show performance of the proposed controller, a computer simulation was performed, and its results was presented.