• Title, Summary, Keyword: robot design

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Design of a Hybrid Serial-Parallel Robot for Multi-Tasking Machining Processes (ICCAS 2005)

  • Kyung, Jin-Ho;Han, Hyung-Suk;Ha, Young-Ho;Chung, Gwang-Jo
    • 제어로봇시스템학회:학술대회논문집
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    • pp.621-625
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    • 2005
  • This paper presents a new hybrid serial-parallel robot(HSPR), which has six degrees of freedom driven by ball screw linear actuators and motored joints. This hybrid robot design presents a compromise between high rigidity of fully parallel manipulators and extended workspace of serial manipulators. The hybrid robot has a large, singularity-free workspace and high stiffness. Therefore, the presented kinematic structure of the hybrid robot is particularly suitable for multi-tasking machining processes such as milling, drilling, deburring and grinding. In addition to the machining processes, the hybrid robot can be used for welding, fixturing, material handling and so on. The study on design of the hybrid robot is performed. A kinematic analysis and mechanism description of the hybrid robot with six-controlled degree of freedom is presented. In the virtual design works by DADS, workspace and force analysis are discussed. A numerical model is treated to demonstrate our analysis and to determine the range of permissible extension of the struts. Also, we determine some important design parameters for the hybrid robot.

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Design Development Process for Clothing of Upper Limb Assistive Wearable Soft Robot (상지 보조 소프트로봇의 의복화를 위한 디자인 개발 프로세스)

  • Hong, Yuhwa;Park, Juyeon;Nam, Yun Ja;Park, Daegeun;Cho, Kyu-Jin;Kim, Youn Joo
    • Fashion & Textile Research Journal
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    • v.23 no.1
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    • pp.106-117
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    • 2021
  • This study proposes a design process for an upper limb assistive wearable soft robot that will enable the development of a clothing product for an upper limb assistive soft robot. A soft robot made of a flexible and soft material that compensates for the shortcomings of existing upper limb muscle strength assistive devices is being developed. Consequently, a clothing process of the upper limb assistive soft robot is required to increase the possibility of wearing such a device. The design process of the upper limb auxiliary soft robot is presented as follows. User analysis and required performance deduction-Soft robot design-upper limb assistive wearable soft robot prototype design and production-evaluation. After designing the clothing according to the design process, the design was revised and supplemented repeatedly according to the results of the clothing evaluation. In the post-production evaluation stage, the first and second prototypes were attached to actual subjects, and the second prototype showed better results. The developed soft robot evaluated if the functionality as a clothing function and the functionality as the utility of the device were harmonized. The convergence study utilized a process of reducing friction conducted through an understanding and cooperation between research fields. The results of this study can be used as basic data to establish the direction of prototype development in fusion research.

Design of Fusion Platform Robot for Ground and Aerial Reconnaissance (항공 및 지상 동시 정찰이 가능한 융합형 정찰로봇 설계)

  • Jang, Dong-Hwi;Ko, Hyun-Jun;Kim, Jong-Hyeong
    • Journal of The Korean Society of Manufacturing Technology Engineers
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    • v.24 no.6
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    • pp.718-723
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    • 2015
  • This paper describes the conceptual platform design of a dual-capable robot for both driving on the ground and flying in the air. The dual-capable robot can move over all types of terrain for both ground and aerial reconnaissance. The main design problem of the robot is how to make a wheel for both driving and flying. The proposed key design concept is a hubless driving wheel that contains a propeller inside for flying in the air. The primary design parameters and initial specifications were confirmed through an examination of the conceptual design, and functional tests were then conducted using a real prototype robot for driving and flying modes. The test results show the feasibility of the proposed design concept.

Design of Robot Rotation Arm with Parallel Motion in End Effector (말단 장치의 평면 유지가 가능한 로봇 회전 암의 설계)

  • Lee, Jong-Shin
    • The Journal of Korea Robotics Society
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    • v.5 no.4
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    • pp.359-366
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    • 2010
  • This study proposes the design method for the robot rotation arm which the end effector that is connected in end of the arm keeps parallel motion even though the robot arm rotates. So far, most robot arm rotates together the end effector when the arm rotates. For this, this study proposes the mechanism that the arm is linked to each 4 parallel link so that rotation is possible by 4 pins, and the rotation arm connects 2 joints of diagonal line direction to a link in each 4 joint for rotation, and designs so that can change length of the link. For verification of design, this study targeted that develop the rotation arm for medical examination that use in ophthalmology. It is important that a medical robot offers comport to patient and design compactly so that medical examination and treatment space may can be defined enough. It is designed so that all drive elements may be positioned on interior of the arm and optimization of design for main parts was carried out in this study for this. The robot arm which is developed in this study manufactured to use by medical phoropter arm, and got good result by an experiment. The robot rotation arm which is proposed in this study is judged to contribute very effectively in case use of a medical robot arm for medical examination and treatment, also the robot arm which the end effector that is connected in the end of the arm needs to keep parallel motion. And, the robot arm which is developed in this study made an application as license.

Hydrodynamic design of an underwater hull cleaning robot and its evaluation

  • Lee, Man Hyung;Park, Yu Dark;Park, Hyung Gyu;Park, Won Chul;Hong, Sinpyo;Lee, Kil Soo;Chun, Ho Hwan
    • International Journal of Naval Architecture and Ocean Engineering
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    • v.4 no.4
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    • pp.335-352
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    • 2012
  • An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.

Navigation algorithm of Mobile Robot for helping brain disease patient's gait rehabilitation

  • Cho, Young-Chul;Park, Tong-Jin;Park, Bum-Suk;Han, Chang-Soo
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1781-1785
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    • 2004
  • In existing factory, robot has less necessity that consider person. However, person should be considered at design and use of service robot. To service robot can be used in everyday life along with this, more functions are required. Specially, medical service robot needs function that is intelligence function. Especially, to help patient brain disease patient (cerebral hemorrhage, cerebral infarction, imbecility), gait assistance Mobile robot consider ergonomic element necessarily. In order to develop the medical support service robot, the ergonomic design should be considered. This robot ergonomic design parameters are treated in ("evelopment of Medical Support Service Robot Using Ergonomic Design" 2003, ICASS) Fig2 show this Robot. In this study, navigation algorithm of walk assistance robot is analyzed in ergonomic view. Navigation algorithm of Mobile robot can divide by two patterns. Traditional derivative method has shortcoming in dynamic environment. Reactive method is result that react excellently in dynamic environment. However, number of behavior function is limited. So hybrid navigation algorithm was proposed by the alternative way. We consider enough user specificity at navigation algorithm application of gait assistance robot.

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Remote Monitoring and Control of the Real Robot associated with a Virtual Robot

  • Jeon, Byung-Joon;Kim, Dong-Hwan
    • 제어로봇시스템학회:학술대회논문집
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    • pp.43-48
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    • 2005
  • A robot system encompassing a remote control and monitoring through a virtual robot design is addressed and a tracking problem for a 2D (2 dimension) moving target by a robot vision is chosen as a case study. The virtual robot is developed, and it synchronizes with the real robot by compensating delay time. Two systems are displayed on a remote panel by communicating command and image data. The virtual robot utilizes an OpenGL library in Visual $C^{++}$ environment. Additionally, the remote monitoring and control between the real robot and the virtual robot are accomplished by employing an appropriate data compression in a network communication.

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Path Tracking with Nonlinear Model Predictive Control for Differential Drive Wheeled Robot (비선형 모델 예측 제어를 이용한 차동 구동 로봇의 경로 추종)

  • Choi, Jaewan;Lee, Geonhee;Lee, Chibum
    • The Journal of Korea Robotics Society
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    • v.15 no.3
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    • pp.277-285
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    • 2020
  • A differential drive wheeled robot is a kind of mobile robot suitable for indoor navigation. Model predictive control is an optimal control technique with various advantages and can achieve excellent performance. One of the main advantages of model predictive control is that it can easily handle constraints. Therefore, it deals with realistic constraints of the mobile robot and achieves admirable performance for trajectory tracking. In addition, the intention of the robot can be properly realized by adjusting the weight of the cost function component. This control technique is applied to the local planner of the navigation component so that the mobile robot can operate in real environment. Using the Robot Operating System (ROS), which has transcendent advantages in robot development, we have ensured that the algorithm works in the simulation and real experiment.