Korean Journal of Agricultural Science (농업과학연구)

Institute of Agricultural Science, CNU (충남대학교 농업과학연구소)
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Development of a Robot Gripper For Handling Seedling Trays

육묘상자 취급을 위한 로봇 핸드의 개발

  • Kim, Ki Dae (Dept. of Agricultural Machinery Engineering, Chungnam National University) ;
  • Cho, Sung Wha (Major of Agricultural Education (Agricultural Machinery), Graduate School of Education, Chungnam National University) ;
  • Seo, Il Hwan (Dept. of Agricultural Machinery Engineering, Chungnam National University) ;
  • Lee, Hyun Dong (Dept. of Agricultural Machinery Engineering, Chungnam National University)
  • 김기대 (충남대학교 농과대학 농업기계공학과) ;
  • 조성화 (충남대학교 교육대학원 농업교육전공(농기계)) ;
  • 서일환 (충남대학교 농과대학 농업기계공학과) ;
  • 이현동 (충남대학교 농과대학 농업기계공학과)
  • Published : 1996.12.30
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Abstract

It is a tedious job to handle seedling trays in a green house with human hands because of their fluctuation when they are moving. A robotic gripper for handling a seedling tray has been developed., which has two fingers consisting of the vertical and horizontal bars. The maximum deflections at the center of the seedling trays were measured with various lengths of the horizontal bars. The length of 250 mm was revealed to be optimal one, resulting less than 15 mm deflection with a $540{\times}270mm$ seedling tray, which was acceptable for a practical use. For this study a LM system was adopted to move the fingers. To validate this system the robotic gripper was installed on a Cartesian robotic manipulator and their performance was tested several times with great success. The robotic manipulator used in this study was a general one, so a special one for this robotic gripper needs to be developed in future.

육묘상자는 매우 유연하므로 인력에 의존하여 취급하는데는 많은 애로사항이 발생한다. 그러므로 본 연구에서는 육묘상자를 취급하기 위하여 수직축, 수평축를 갖춘 핑거의 로봇 핸드를 개발하였다. 수평축의 길이를 달리하여 육묘상자의 각 지점의 처짐량을 측정하였다 핑거의 수평길이가 250mm 일 때 $540{\times}270mm$의 육묘상자의 처짐량이 15mm이하로 되어 적당하다라고 판단된다. 본 연구에서 사용한 핑거의 움직임에는 LM시스템을 사용하였다. 개발한 로봇 핸드는 충남대학교 농업기계공학과에 기 보유하고 있는 직교좌표형 로봇 본체에 장착하여 성능실험을 실시한 결과 만족할 만한 결과를 얻었다. 앞으로 전용 로봇 본체를 개발하여 실용화 되기를 기대한다.

Keywords

Acknowledgement

Supported by : 충남대학교