• Title, Summary, Keyword: robot design

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Optimal Wrist Design of Wrist-hollow Type 6-axis Articulated Robot using Genetic Algorithm (유전자 알고리즘을 이용한 손목 중공형 6축 수직다관절 로봇의 최적 손목 설계에 관한 연구)

  • Jo, Hyeon Min;Chung, Won Jee;Bae, Seung Min;Choi, Jong Kap;Kim, Dae Young;Ahn, Yeon Joo;Ahn, Hee Sung
    • Journal of the Korean Society of Manufacturing Process Engineers
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    • v.18 no.1
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    • pp.109-115
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    • 2019
  • In arc-welding applying to the present automobile part manufacturing process, a wrist-hollow type arc welding robot can shorten the welding cycle time, because feedability of a welding wire is not affected by a robot posture and thus facilitates high-quality arc welding, based on stable feeding with no entanglement. In this paper, we will propose the optimization of wrist design for a wrist-hollow type 6-Axis articulated robot. Specifically, we will perform the investigation on the optimized design of inner diameter of hollow arms (Axis 4 and Axis 6) and width of the upper arm by using the simulation of robot motion characteristics, using a Genetic Algorithm (i.e., GA). Our simulations are based on $SolidWorks^{(R)}$ for robot modeling, $MATLAB^{(R)}$ for GA optimization, and $RecurDyn^{(R)}$ for analyzing dynamic characteristics of a robot. Especially $RecurDyn^{(R)}$ is incorporated in the GA module of $MATLAB^{(R)}$ for the optimization process. The results of the simulations will be verified by using $RecurDyn^{(R)}$ to show that the driving torque of each axis of the writs-hollow 6-axis robot with the optimized wrist design should be smaller than the rated output torque of each joint servomotor. Our paper will be a guide for improving the wrist-hollow design by optimizing the wrist shape at a detail design stage when the driving torque of each joint for the wrist-hollow 6-axis robot (to being developed) is not matched with the servomotor specifications.

Adaptive Control of Space Robot in Inertia Space (Inertia Space에서 우주 로봇의 적응제어)

  • Lee, Ju-Jang
    • Proceedings of the KIEE Conference
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    • pp.381-385
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    • 1992
  • In this paper, dynamic modeling and adaptive control problems for a space robot system are discussed. The space robot consist of a robot manipulator mounted on a free-floating base where no attitude control is applied. Using an extended robot model, the entire space robot can be viewed as an under-actuated robot system. Based on nonlinear control theory, the extended space robot model can then be decomposed into two subsystems: one is input-output exactly linearizable, and the other is unlinearizable and represents an internal dynamics. With this decomposition, a normal form-augmentation approach and an augmented state-feedback control are proposed to facilitate the design of adaptive control for the space robot system against parameter uncertainty, unknown dynamics and unmodeled payload in space applications. We demonstrate that under certain conditions, the entire space robot can be represented as a full-actuated robot system to avoid the inclusion of internal dynamics. Based on the dynamic model, we propose an adaptive control scheme using Cartesian space representation and demonstrate its validity and design procedure by a simulation study.

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Development of the Medical Support Service Robot Using Ergonomic Design

  • Cho, Young-Chul;Jang, Jae-Ho;Park, Tong-Jin;Han, Chang-Soo
    • 제어로봇시스템학회:학술대회논문집
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    • pp.2660-2664
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    • 2003
  • In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.

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A Study for Usability and Designing Manual Controller of a Curtain‐wall Installation Robot (커튼월 설치 로봇 컨트롤러의 설계 및 사용성 평가에 관한 연구)

  • Lee, Seung-Yeol;Seok, Jae-Heuck;Han, Jung-Wan;Kim, Byung-Hwa;Han, Chang-Soo
    • Journal of the Ergonomics Society of Korea
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    • v.25 no.4
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    • pp.71-80
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    • 2006
  • A construction robot has been developed for higher productivity and better safety in various construction fields. Especially, curtain wall is suitable for outer wall material of tall commercial building and apartment complexes. This heavy material is, however, hard to install with a manpower and outdated equipment. For this reason, the prototype of ASCI (Automation System for Curtain wall Installation) was developed. This system has a robot controller(i.e. hand-held remote control unit) for the transfer information signal between human operator and robot system. Although study has been conducted on manual controller of ASCI, hardly any information is known about the operator's opinion. In this study, a questionnaire was completed by operator to get their opinion about aspects which need to design a more comfortable and productive manual controller of construction machinery, robot included. Through the result of study, it is expected that this technical data is contributed to the robot controller design for comfort and productivity of various industrial machinery.

The Design of Robot Arm based on the Morphological.Neurological Model of Human (인간의 신경학적.생태학적 모델에 기반한 로봇 팔 설계 기법)

  • Bae, Young-Chul;Choi, Hyeong-Yoon;Moon, Yong-Seon
    • Journal of the Korean Institute of Intelligent Systems
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    • v.17 no.4
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    • pp.500-505
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    • 2007
  • Current humanoid robot technology has a problem of lacking opened methodology about mechanisms of analysis, design, implementation, and integration for robot development but is focused only on manufacture robot and implementation of technology. In this paper, to overcome problems of humanoid robots that have been shown since and for construction of new structure which satisfy the concept of opening, networking, and modularization that is the development direction of future robot, we proposed morphological and neurological model of human arm and design method of humanoid robot arm based on the each joint design and kinematics model.

A Study on the Appearance Design and Behavior of a Humanoid Robot to Receive Donations Effectively (효과적으로 기부를 받기 위한 인간형 로봇의 외형 디자인 및 행동에 관한 연구)

  • Eum, Younseal;Song, Hyunjong;Kim, Yitaek;Min, Injoon;You, Dongha;Han, Jeakweon
    • The Journal of Korea Robotics Society
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    • v.14 no.3
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    • pp.163-169
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    • 2019
  • Robot ALICE@ERICA is a service robot developed to receive donations and to provide information services. ALICE@ERICA stands for Artificial Learning Intelligence robot for Culture and Entertainment at ERICA. In order to achieve the specific purpose of receiving donations, proper appearance design, appropriate movement and good communication skills are required in terms of HRI. In this paper, we introduce three strategies for developing robots to receive donations effectively. The first is to design a robot that makes people feel intimacy, the second is to approach only one of several people as a donor, and finally the donor communicates with video contents and voice recognition. A survey was conducted on the person who showed the reaction after the robot donated money in public places. Based on the survey results, it is proved that the method presented in this study effectively contributed to fund raising. If robots can perform actions that require high level of HRI, such as donation, robots can contribute more to human society. We hope that this study contributes to the improvement of human happiness.

Axiomatic Design of Composite Double Arm Type Robot Hands and Wrists for Handling Large Glass Panel Displays (공리 설계를 적용한 대형 평판 디스플레이용 더블암형 복합재료 로봇 핸드 및 리스트)

  • 이창섭;이대길;최진경
    • Proceedings of the Korean Society For Composite Materials Conference
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    • pp.241-244
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    • 2002
  • Recently, the size of glass panel is increased to $1250 mm{\times}1100 mm{\times}0.7 mm$, whose mass is 2.65 kg, which requires much stiffer robot structure. In addition to the high stiffness, the robot hands and wrists for glass panel handling should have miller surface finishing of its outer surface to prevent particles and dusts from adhering on the surface. The maximum height of the robot structure should not be larger than 1500 mm because other automated guided vehicles (AGV) and transfer equipments have been designed within this size limit. The difference of maximum deflections of the four ends of the hands before and after loading the glass panel should be less than 2.0 mm. In this work, the robot hands and wrists for handling large glass panel displays were designed based on the axiomatic design using the finite element method along with optimization routine.

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Design of a Cube-Style Modular Robot (큐빅 형태의 모듈라 로봇 디자인)

  • Oh, Jun-Young;Kim, Dea-Sun;Park, No-Su;Lee, Bo-Hee;Seo, Nam-Gil;Lee, Chang
    • Proceedings of the KIEE Conference
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    • pp.345-346
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    • 2007
  • This paper deals with design of a cube-style modular robot. The modular robot can change its own form according to the working environment. Therefore it is suitable to work in the search and rescue area with the shape of snake, legged robot and humanoid robot. Each of modular unit has to install its own controller on the body and driving mechanism in order to give it mobility autonomously. And also they should attach and detach each other with docking mechanism and algorithm. Using this mechanism, they can make union, separation, recombination. The other important point is that some information of each cell should be exchanged to reconfigure their shape and to make some docking of the modular cell. In this paper we suggested a design concept of our modular robot focused on the docking mechanism of the robot.

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Development of a Hexapod Robot for Multi-terrain Reconnaissance (다양한 험지 정찰을 위한 6족 보행 로봇 개발)

  • Lim, Seoung-Yong;Kim, Jong-Hyeong;Kim, Hyeong-Gik
    • Journal of The Korean Society of Manufacturing Technology Engineers
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    • v.24 no.6
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    • pp.667-674
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    • 2015
  • This paper describes the development of a prototype hexapod robot with six circular legs to overcome a variety of challenging terrains. The legs of the robot are very important for stability during walking, which are analyzed for determining the optimal design parameters through CAE tools. Its control system consists of three types of sensors, microprocessors, and communication modules for PC interface. The entire operation of the robot can be controlled and monitored using a PC. The experimental operations for three different roads verified the feasibility of the prototype robot for carrying out reconnaissance on multi terrain. In the near future, the prototype robot can be used for a military purpose of detecting and informing a potential risk in advance.