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Development of Dual Arm Robot Platform for Automatic Assembly |
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DONG IL PARK, Chanhun Park, Hyunmin Do, Taeyong Choi, Jinho Kyung(Korea Institute of Machinery & Materials, Republic of Korea) |
| A dual arm robot is one of the most popular issue on the robotic field. Because a dual arm robot has two arms like humans, it can conduct the complex handling task and the jigless assembly task which cannot be performed by a single arm robot. Also, it is expected to substitute for humans and do better performance than humans in the industrial manufacturing. In the paper, we proposed a dual arm robot system with a mobile platform for the automatic assembly of electrical devices and it was developed through kinematic and dynamic analysis. Kinematic analysis was performed for the workspace and dy |
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A robot manipulator on the mobile platform for an off-road environment |
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Chanhun Park(Korea Institute of Machinery & Materials, Republic of Korea) |
| If the mobile manipulator is used in the off-road environment, the design concept of the manipulator is not different from the usual robot manipulator. Because it is used in an off-road environment, it has to get over the vibrational forces induced by the off-road traveling. For the mobile platform, the design concept and process have been developed by many researchers. But for the manipulator on the mobile robot for an off-road environment, enough researches have not been done. For this reason, the authors are developing the design concept of the off-road manipulator. In this paper, the resea |
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A Study on Remote Control System Integrated Intuitive Vision System for Field Robot Using Head Tracker system |
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Soon-Yong Yang(University of Ulsan, Republic of Korea), Hoan Quang Le(university of ulsan, Republic of Korea), Kyoung-Taik Park(Korea Institute of Machinery and Materials, Republic of Korea), Young-Man Jeong(University of Ulsan, Republic of Korea) |
| Operating excavator on the risk surroundings is not safe for human to control on site. Consequently,
automatic excavator called Field Robot has been researched to protect the workers from the hazardous environments. The remote excavation system is required to perform in such environments. This paper presents the study on remote control system for the Field Robot and intuitive vision system for user via head tracker system. The design of the remote control system consists Remote Station and Filed Robot. In Remote Station, user can send the control commands through wireless communication. |
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A Study of Stability for Field Robot using Energy Stability Method |
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Kyoung Taik Park(Korea Institute of Machinery & Materials, Republic of Korea), Chi-Thanh Nguyen, Soon-Yong Yang(University of Ulsan, Republic of Korea) |
| In this paper, the energy stability level concept is used for examining the stable state of field robot under effects of swing motion, at some particular postures of manipulator and terrain conditions. The energy stability level is calculated by using the dynamic models of field robot, subject to the concept of equilibrium plane and support boundary. The results are simulated by using Matlab/Simulink for estimating the stability of field robot to supply useful predictions of stability analysis to designers and operators. |
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Application of Gas Spring for Robot Arm Balancing |
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Kyoung Taik Park(Korea Institute of Machinery & Materials, Republic of Korea), Doo Hyung Kim, Kwang Jo Chung(Korea Institute of Machinery and Materials, Republic of Korea) |
| In development of industrial robot and field mobile robot, the handling robot of relatively heavy payload uses the weight balancing mechanism to reduce power burden of driving motor. To select a gas spring as the weight balancer, the relationship equations of stroke and reaction force are derived and the real selection examples are given. And also the characteristic experimental results are given. |
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