Doohyung Kim

Design of dual arm robot manipulator for precision assembly of mechanical parts

A new structure of dual arm robot manipulator which consists of two industrial 6-DOF arms and one 2-DOF Torso is introduced. This dual arm robot manipulator is designed for the assembly automation of the mechanical parts. Each industrial 6-DOF arm is able to be used as a stand-alone industrial 6-DOF robot manipulator and as a part of dual arm manipulator at the same time. These structures help the robot maker which is willing to succeed in the emerging dual arm robot market have the high competition for the current industrial robot market and the emerging dual arm robot market at same time.

Design of dual arm robot manipulator using modular actuators with CAN communication networks

A dual arm robot manipulator has been developed. Almost dual arm robots or single robots are constructed in the fixed configuration, that is, motors, cables and mechanical parts are very complicatedly linked to each other.So itpsilas impossible to easily disassemble or reconfigure the robot. The developed dual arm robot is constructed by the modular actuators which have DC motor, amplifier, reduction gears and control board with CAN communication network. It is easy to assemble, disassemble and reconfigure it. The developed dual robot manipulator, the concept of hardware design, and the real-time PC-based controller will be introduced.

Robust Discrete-Time Sliding Mode Control of Vehicle Steering System with Uncertainty

This paper deals with the design of robust DSMC (Discrete-Time Sliding Mode Control) scheme in order to overcome system uncertainty in steering system with mechanically joined structure. The proposed control scheme is one of robust control schemes based on system dynamics. Therefore, system dynamics required is not obtained from physical law but SCM (Signal Compression Method) through experiment in order to avoid complicate mathematical development and save time. However, SCM has a shortcoming that is the limitation of with order linear model which does not include the dynamic of high-frequency band. Thus, considering system uncertainty, DSMC is designed. In addition, to reduce the chattering problem of DSMC, DSMC is derived from the reaching law and the Lyapunov stability condition. It is found that the proposed control scheme has robustness in spite of the perturbation of system uncertainty through computer simulation.

Design and control of dual arm robot manipulator for precision assembly

A new structure of dual arm robot manipulator which consists of a couple of single industrial 6 DOF arms and a 2 DOF Torso is introduced. Each single industrial 6 DOF arm is able to be used as a stand-alone industrial 6 DOF robot manipulator and as a part of a dual arm manipulator at the same time. These structures help the robot maker which aims at success in the emerging dual arm robot markets be able to have good competitive power for the existing industrial robot markets at same time. The structure of developed PC-based controller with window XP and real time OS (RTX), and kinematics algorithms for the developed dual arm robot manipulator which are implemented in our controller is introduced.

Development of shoulder complex structure

Currently the interaction between human and robot are becoming important in the industrial application including hardware and software area. Industrial robot with human aspects needs more natural motion to be familiar to human workers. To do that, shoulder complex is very important. Here, human shoulder complex is designed with wire driven architecture.

Development of a kinematics library creation software for the module based manipulator

Some companies have begun to sell robot modules for customers to build their own robots. However, software technology has not caught up to hardware performance. A novel software to create a kinematics library for module-based robots is introduced.

Design of high payload dual arm robot with modifiable forearm module depending on mission

Robot arms are being increasingly used in various fields with special attention given to unmanned systems. In this research we developed a high payload dual arm robot, in which the forearm module is modifiable depending on the assigned task, such as object handling or lifting humans in a rescue operation. With each forearm module specialized for an assigned task (e.g. safety for rescue and redundant joints for object handling task), the robot can conduct various tasks more effectively than could be done previously.

Variable passive compliance device for the robotic assembly

Industrial robots have been used in the simple repetitive process such as handling, transferring and assembling the simple workpiece. Robotic assembly with high precision becomes the main issue of the robot automation system. There have been some researches about robotic assembly strategy and passive compliant devices for adaptive assembly. In the paper, we proposed a new kind of variable compliance device with some compliance bars and the mechanical transition for the versatile assembly tasks. It can vary the stiffness coefficient from zero to almost infinite and is expected to be applied to the various assembly applications.

Design and analysis of the dual arm manipulator for rescue robot

Previous dual arm manipulators have been developed to follow dual arm tasks of human and to be a substitute for human in the indoor field. Nowadays, it is necessary for a robot to perform various tasks such as search and rescue in the battle field and disaster field. In the paper, a dual arm manipulator which is mounted on the mobile robot is proposed for rescue activity. The kinematic configuration is determined to satisfy the representative poses for rescue activity in the battle field. Kinematic parameters and dynamic parameters of the dual arm manipulator are investigated through the dynamic simulation on the various conditions. The performance of the manufactured dual-arm manipulator is proved through the experiments.

Dynamic simulation of the robot manipulator for mobile based rescue robot

A new concept of joint module with passive compliance was proposed for the dual arm manipulator of a rescue robot. Because this manipulator will be mounted on the mobile robot platform, it has to be able to absorb and overcome the impact from the environment. Vibration data of the mobile robot was obtained through the simulation. We performed dynamic simulation on the various condition and analyzed the required torque and the frequency response. Then, we manufactured the proposed module and carried out the experiment to identify its characteristics.