Beom-Sahng Ryuh

Development of a trajectory generation method for a five-axis NC machine

This paper presents a real-time trajectory generation method and control approach for a five-axis NC machine. The spatial trajectory of the tool of the five-axis machine is described by a ruled surface, and the differential motion parameters of the tool are obtained from the curvature theory of the ruled surface. The controller computes position, orientation, and the differential motion parameters of the tool within a specified sampling period. The Ferguson geometric modeling technique is used to represent the tool trajectory as a ruled surface. The proposed method produces a smoother part surface and requires substantially less machining time when compared to conventional off-line approaches. The real-time control approach, based on the curvature theory of a ruled surface, is believed to be an original contribution to the precise control of a five-axis NC machine.

Autonomous Greenhouse Mobile Robot Driving Strategies From System Integration Perspective: Review and Application

Agricultural operations are constantly becoming technology-driven mainly due to labor shortages, increase in labor cost, and trends in new and advanced technology applications. In this paper, we have presented a system-of-systems approach to design and development of a mobile robotic platform for agricultural applications. Similar to other field robots, the mobile platform for agricultural applications requires a different set of predefined attributes for its operation. We have designed, fabricated, and demonstrated the mobile platform for pesticide spraying application. The design and development includes synergistic integration of mechanical, sensor and actuator, navigational and control, and electronic and software interfacings. The autonomous navigation aspect of the development was achieved via three stages: learning stage, implementation stage (training stage), and testing stage. In the learning stage, we defined the path patterns and studied and recorded the behavior of the vehicle in real-world environment. In the training stage, various steering algorithms for four-wheel driving system were developed and inherent errors were compensated using advanced tools and methods. In the testing stage, we put the robotic platform on an arbitrary path pattern and demonstrated its success in autonomous navigation. The medium-sized mobile robot can be commercialized for greenhouse-based agricultural operations.

Cost Drivers in Microlamination Based on a High-Volume Production System Design

The purpose of this research is to develop a cost estimation model in an attempt to begin exploring the current cost drivers for microlamination. To do this without actual cost information, a production system design is proposed for the high-volume production of MECS devices. Constraints on this facility are that it produces microlaminated structures from stainless steel diffusion bonding. Also, a cost estimation model is developed based on the known cycle time and capital equipment costs from the production system design. Finally, a sensitivity analysis is performed to determine the cost drivers under different market and product scenarios. Results from the sensitivity analysis indicated that device size and production rate do have an effect on the overall manufacturing cost of microlamination devices. Therefore, it is concluded that the emphasis of future research in metallic microlamination should focus on bonding larger laminae and in reducing both cycle time and warpage.Copyright

Arc Welding Robot Automation Systems

Robot automation systems are rapidly taking the place of the human work force. One of the benefits is that this change provides the human work force with the time to spend on more creative tasks. The highest population of robots is in spot welding, spray painting, material handling, and arc welding. Spot welding and spray painting applications are mostly in the automotive industry. However, arc welding and material handling have applications in a broad range of industries, such as, automotive sub-suppliers, furniture manufacturers, and agricultural machine manufacturers. The number of arc welding automation robot stations is growing very rapidly. The two most common stations are the GMAW (Gas Metal Arc Welding) station and the GTAW (Gas Tungsten Arc Welding) station. These two stations are the most common because they are so well suited to robot systems. Typically, a robot arc welding station is comprised of a robot, a robot controller, arc welding equipment, a work clamp and motion devices to hold work pieces accurately in position (considering heat deformation), robot motion devices to move around the robot for a larger working range and better weld positions, sensors, and safety devices. A typical arc welding robot station is illustrated in Figure 1.

Development of Agriculture Robot for Unmanned Management in Controlled Agriculture

Environmental change, labor shortage, and international trade politics make agricultural automation ever more important. The automation demands the highest technology due to the nature of agriculture. In this paper, autonomous pesticide spray robot system has been developed for rose farming in the glass house. We developed drive platform, navigation/localization system, atomization spray system, autonomous, remote, and manual operation system, and monitoring system. The robot will be a great contribution to automation of hazardous labor-demanding chore of pesticide control in glass houses.

Development of water cropping machine for slab pattern processing

This paper is a special-purpose machine studies for processing various patterns on the surface of the stone. We have developed a special-purpose machine that can be applied in various patterns upon the surface treatment of the stone with the water jet. The special-purpose machine is Configured of Transfer mechanism, motion controller, multi-nozzle mechanism, ultra high pressure water control system and S/W. We conducted a performance evaluation experiments of the pattern. We have developed a special-purpose machine with a precision of machining error ±5㎜ and pattern processing of various types.

Robot Automation Systems for Deburring

Deburring is a significant area of research for robot application. However, it is difficult to obtain details on this important topic in mo dern text books and archival journal papers. Therefore, in general, the engineer is subjected to a time consuming decision making process that usually involves trial-and-error procedures. This chapter will attempt to organize important know-how and field experience, in a logical sequence, so that the engineer can use the information in a straightforward manner. The chapter will provide important details on various types of tools, material selections, robots and station concepts, and programming. This information will help reduce the trial-and-error approach, which is a significant drain on time and money. The contents of this chapter will also provide the opportunity to obtain an optimal solution to the problems associated with deburring. The chapter is arranged as follows. Section 2 defines a burr and presents background information on the automation systems for the deburring process. The process is classified by the types of burr and the work material. Sections 3 gives a brief introduction to robots for the deburring process. Section 4 discusses the tools of a robot deburring system including, the spindle motor, tool holders, and tool selection. Section 5 focuses on the rotation-type burr tool; i.e., deburring by a solid rotating file. The rotating file is the most commonly used at the present time. Section 6 focuses on the deburring operation and includes a discussion of potential problems in the deburring process. Section 7 presents a discussion of the selection of tools for different applications. Finally, Section 8 addresses the problems associated with the cutting and deburring of polymers and die castings. The material in this chapter is based on the reports and experiences of experts in Europe, the United States of America, Japan, and Korea.