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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of the Korean Society for Precision Engineering
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Journal DOI :
Korean Society of Precision Engineering
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Volume & Issues
Volume 30, Issue 12 - Dec 2013
Volume 30, Issue 11 - Nov 2013
Volume 30, Issue 10 - Oct 2013
Volume 30, Issue 9 - Sep 2013
Volume 30, Issue 8 - Aug 2013
Volume 30, Issue 7 - Jul 2013
Volume 30, Issue 6 - Jun 2013
Volume 30, Issue 5 - May 2013
Volume 30, Issue 4 - Apr 2013
Volume 30, Issue 3 - Mar 2013
Volume 30, Issue 2 - Feb 2013
Volume 30, Issue 1 - Jan 2013
Selecting the target year
Development of S/W Framework for the Industrial Dual-arm Robot
Choi, Taeyong ; Do, Hyun Min ; Park, Dong Il ; Park, Chanhun ; Kim, Doohyung ; Park, Kyung-Taik ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 887~891
DOI : 10.7736/KSPE.2013.30.9.887
Human rights at poor working condition is the severe problem in modern manufacturing system. The industrial dual-arm robot is being developed to meet these social issues fundamentally. The dual-arm robot can work instead of human workers. We developed the new dual-arm robot for manufacturing mobile phone and TV. It has advantages such as the solo controller for both arms, the human sized body and arms. The software platform for the industrial dual-arm robot is being developed which has strength in its convenience and intelligence compared to conventional the robot software platforms. Here the development of the dual-arm robot software platform is introduced.
Dual-arm Robot for Cell Production of Cellular Phone
Do, Hyun Min ; Choi, Taeyong ; Park, Chanhun ; Park, Dong Il ; Kyung, Jin Ho ; Kim, Kye Kyung ; Kang, Sang Seung ; Kim, Joong Bae ; Lee, Jae Yeon ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 893~899
DOI : 10.7736/KSPE.2013.30.9.893
Recently, the requirement of automation in the cell production system is increasing due to a decrease of skilled workers who are the key point of a cell production system. This paper proposes a dual-arm robot designed and implemented with consideration of being applied to a cell production line of cellular phone. A specification was derived from the analysis of production process and the consideration of configuration for human-robot cooperation. Design and implementation results of the proposed dual-arm robot were suggested and the feasibility was verified through the demonstration of the proposed robot in some of packaging job of cellular phone.
Object Recognition Method for Industrial Intelligent Robot
Kim, Kye Kyung ; Kang, Sang Seung ; Kim, Joong Bae ; Lee, Jae Yeon ; Do, Hyun Min ; Choi, Taeyong ; Kyung, Jin Ho ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 901~908
DOI : 10.7736/KSPE.2013.30.9.901
The introduction of industrial intelligent robot using vision sensor has been interested in automated factory. 2D and 3D vision sensors have used to recognize object and to estimate object pose, which is for packaging parts onto a complete whole. But it is not trivial task due to illumination and various types of objects. Object image has distorted due to illumination that has caused low reliability in recognition. In this paper, recognition method of complex shape object has been proposed. An accurate object region has detected from combined binary image, which has achieved using DoG filter and local adaptive binarization. The object has recognized using neural network, which is trained with sub-divided object class according to object type and rotation angle. Predefined shape model of object and maximal slope have used to estimate the pose of object. The performance has evaluated on ETRI database and recognition rate of 96% has obtained.
Vibration Control of the Hybrid Type Solar Cell Substrate Handling Robot
Park, Dong Il ; Park, Cheolhoon ; Park, Joo Han ; Cheong, Kwang Cho ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 909~913
DOI : 10.7736/KSPE.2013.30.9.909
Various types of large substrate handling robots are used in the thin file solar cell manufacturing line as well as LCD or PDP production line. Because the robot handles the heavy substrate at high speed, there are some issues such as vibration control and the optimal design of arms and forks. As the substrate becomes larger and heavier, robot systems are also larger and the vibration issue of the robot end-effector becomes more important. In the paper, we established the robot modeling and the control architecture including the flexible part such as forks. Then, we performed dynamic simulation in the various condition and analyzed the characteristics of the fork vibration. We can reduce the vibration using the trajectory planning and input shaping algorithm and it was proved by experiment.
Modeling of a Timing-Belt Drive System Used in a Large-Scale Panel-Handling Robot
Jo, Eunim ; Rhim, Sungsoo ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 915~921
DOI : 10.7736/KSPE.2013.30.9.915
Most of large scale solar panel handling robots adopt the timing-belt drive system for its driveline because of the simplicity and the easiness of implementation. The vibration caused by the flexure of the timing belt would increase as the size and the weight of the panel that the robot handles increase and the vibration would deteriorate the precision and/or productivity of the whole robot system. For the development of a proper control system and for the improvement of the design of the robot it is important to estimate the oscillatory response of the robot system including the flexible drive system properly. In this paper a flexible multi-body dynamics model of a large-scale solar-panel-handling robot with the flexible timing-belt drive system is developed using a generic multi-body dynamics analysis program, RecurDyn.
Study on the Structural Analysis of Small Size Industrial High Speed Parallel Robot
Park, Chanhun ; Do, Hyun Min ; Choi, Taeyong ; Kim, ByungIn ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 923~930
DOI : 10.7736/KSPE.2013.30.9.923
These days, the interests on the high speed handling robots are increasing because it is important to get down the unit cost of production to get the price competitiveness. The parallel kinematic mechanism is more suitable to implement the high speed robot system as well known. The moving parts of the high speed parallel robot have to be designed for light weight. But the vibration motion is induced by the light weight links because they drive in high acceleration and deceleration. In this reason, the structural analysis of the high speed parallel kinematic robot is very important in the design process. In this paper, the study on the structural analysis of a high speed parallel robot has been done and the research results will be introduced.
Characteristics of Fiber Laser Lap Welding of Pure Aluminum Multi-thin Plate
Yang, Yun Seok ; Park, Eun Kyeong ; Lee, Ka Ram ; Yoo, Young Tae ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 931~942
DOI : 10.7736/KSPE.2013.30.9.931
In this study, we analyzed and compared the ultrasonic welding with the laser welding for the pure aluminium thin plates in a series of secondary lithium-ion batteries which are currently being produced by the ultrasonic welding; and performed the experiment for the purpose of the preceding study to replace the ultrasonic welding method with the laser welding method. As a result, the weld width of ultrasonic welding was 5mm, but that of laser welding was about 1~1.5 mm. As a result of tension test, the tensile strength was high when the pulse duration hour was short at the low peak power, while the high tensile strength was achieved when the pulse duration hour was long at the high peak power. The value of tensile strength was higher in the ultrasonic welding while the laser welding showed a maximum 45% better result as for the welding width.
Characterization of Thermal Contact Resistance Doped with Thermal Interface Material
Bajracharya, Iswor ; Ito, Yoshimi ; Nakayama, Wataru ; Moon, Byeong-Jun ; Lee, Sun-Kyu ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 943~950
DOI : 10.7736/KSPE.2013.30.9.943
This paper describes the thermal contact resistance and its effect on the performance of thermal interface material. An ASTM D 5470 based apparatus is used to measure the thermal interface resistance. Bulk thermal conductivity of different interface material is measured and compared with manufacturers` data. Also, the effect of grease void in the contact surface is investigated using the same apparatus. The flat type thermal interface tester is proposed and compared with conventional one to consider the effect of lateral heat flow. The results show that bulk thermal conductivity alone is not the basis to select the interface material because high bulk thermal conductivity interface material can have high thermal contact resistance, and that the center voiding affects the thermal interface resistance seriously. On the aspect of heat flow direction, thermal impedance of the lateral heat flow shows higher than that of the longitudinal heat flow by sixteen percent.
Automatic Velocity Ripple Compensation Algorithm by Feedforward Control
Han, Ji Hee ; Kim, Jung Han ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 951~959
DOI : 10.7736/KSPE.2013.30.9.951
In order to improve the speed performance of the direct drive mechanical systems, a comprehensive analysis of the velocity ripples of blushless DC motors should be required. Every motor has a certain level of torque ripples when it generates power, and the generated torque ripple also makes the velocity ripples in the final output stage in speed control system. In this paper, a novel algorithm for reducing velocity ripples is proposed based on the modeling of torque ripples for BLDC motors. Various algorithms have been made for torque ripples, but usually they should be installed inside the amplifier logic, result in the difficulties of flexibility for various kinds of torque ripples. The proposed algorithm was developed for being ported in the controller not the amplifier, and it has the capability of the automatic compensation adjustment. The performance of the proposed algorithm was verified by effective simulations and experiments.
Optimal Design of a Four-bar Linkage Manipulator for Starfish-Capture Robot Platform
Kim, Jihoon ; Jin, Sangrok ; Kim, Jong-Won ; Seo, TaeWon ; Kim, Jongwon ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 961~968
DOI : 10.7736/KSPE.2013.30.9.961
In this paper, we propose an optimal design for starfish capturing manipulator module with four-bar linkage mechanism. A tool link with compliance is attached on the four-bar linkage, and the tool repeats detaching starfish from the ground and putting it into the storage box. Since the tool is not rigid and the manipulator is operating underwater, the trajectory of the tool tip is determined by its dynamics as well as kinematics. We analyzed the trajectory of the manipulator tool tip by quasi-static analysis considering both kinematics and dynamics. In optimization, the lengths of each link and the tool stiffness are considered as control variables. To maximize the capturing ability, capturing stroke of the four-bar manipulator trajectory is maximized. Reaction force and reaction moment, and other kinematic constraints were considered as inequality constraints.
A Surface Adaptive Moving Mechanism for Wind Turbine Blade Maintenance Robot
Kim, Byunggon ; Park, Sora ; Jun, Minsoek ; Jun, Kyungtae ; Hong, Daehie ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 969~975
DOI : 10.7736/KSPE.2013.30.9.969
As energy shortage is getting more serious, wind energy source is more promoted around the world. Blade is a key component of wind turbine. Local breakages and/or contamination in the blade bring degradation in aerodynamic efficiency and life-time. However, it is not easy and even dangerous for human workers to access the blade for inspection and maintenance since its size is huge and located at high mountains and rough sea, which are windy places. This paper deals with a novel moving mechanism that efficiently carries human workers or robots to the wind turbine blade. The proposed mechanism utilizes flexible tube with pressurized air that rolls and climbs over the blade surface. So, the tube naturally adapts the changing surface of the blade and acts no harm to it. This paper discusses about its concept, detail design, and advantages. The feasibility of the proposed mechanism is proved through experiments prototype.
Efficiency Evaluation of Wind Power Blade Surface Cleaning using Brush and Water Jet
Jeon, Minseok ; Kim, Byunggon ; Park, Sora ; Hong, Daehie ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 977~982
DOI : 10.7736/KSPE.2013.30.9.977
Blades of wind energy plants are exposed to external shocks or internal cracks during operation. Furthermore, the blade surfaces can be contaminated by substances such as dust, blood of birds, salt or insects which can decrease the electricity generation efficiency significantly. For this reason, many blade cleaning companies started to appear and a variety of methods for cleaning were suggested. Despite these diverse methods, there has been no study to investigate how effectively to clean the substances in quantitative manner. In this paper, the cleaning efficiency of two rotor blade cleaning methods, brush and water-jet, is examined through experiments by changing operating parameters. Then, the optimal operating conditions for both methods are derived.
Structural Analysis for a 70/15 ton×105 m Level Luffing Crane
Kim, Min-Saeng ; Shin, Yoo In ; Song, Chul Ki ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 983~990
DOI : 10.7736/KSPE.2013.30.9.983
Evaluation of the structural analysis for a 70/15 ton
105 m LLC (Level Luffing Crane) was conducted with an FEM Tool. Due to a discordance of the modeling and element type, the LLC was progressively analyzed after dividing it into the boom, main structure and rocker. All loads such as slewing, traveling and wind load, etc., that are indicated in the reference standards, were inputted as various severe conditions of the LLC. The deformation, equivalent stress(Von Mises stress), buckling characteristics were evaluated for the LLC structures. The stress concentrated areas over the allowable stress were identified, and reinforcement work was performed with a stiffener.
Development of 2D-3D Image Registration Techniques for Corrective Osteotomy for Lower Limbs
Rha, In Chan ; Bong, Jae Hwan ; Park, Shin Suk ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 991~999
DOI : 10.7736/KSPE.2013.30.9.991
Lower limbs deformity is a congenital disease and can also be occurred by an acquired factor. This paper suggests a new technique for surgical planning of Corrective Osteotomy for Lower Limbs (COLL) using 2D-3D medical image registration. Converting to a 3D modeling data of lower limb based on CT (computed tomography) scan, and divide it into femur, tibia and fibula; which composing the lower limb. By rearranging the model based on the biplane 2D images of X-ray data, a 3D upright bone structure was acquired. There are two ways to array the 3D data on the 2D image: Intensity-based registration and feature-based registration. Even though registering Intensity-based method takes more time, this method will provide more precise results, and will improve the accuracy of surgical planning.
Reducing Separation Force for Projection Stereolithography based on Constrained Surface Technique
Kim, Hye Jung ; Ha, Young Myoung ; Park, In Baek ; Kim, Min Sub ; Jo, Kwang Ho ; Lee, Seok Hee ;
Journal of the Korean Society for Precision Engineering, volume 30, issue 9, 2013, Pages 1001~1006
DOI : 10.7736/KSPE.2013.30.9.1001
Projection-based stereolithography is divided into constrained-surface and free-surface type according to controlling liquid layer. The constrained-surface type has a uniform layer thickness due to the use of a projection window, which covers the pattern generator such as liquid crystal display. However, the adhered resin on the projection window causes trouble and requires great separation force when the cured layer is separated from the window. To minimize the separation force, we developed a system to measure the separation force. The influence of material covering the pattern generator and the resin temperature is investigated in the system. Several structures according to the resin temperature and the velocity of z-axis elevation are compared. As a result, the fabrication condition to minimize the separation force reduces the process time.