Jinho Kyung

Korea Institute of Machinery and Materials

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Chanhun Park

Korea Institute of Machinery and Materials

Tae-Yong Choi

Korea Institute of Machinery and Materials

Hyun Min

Korea Institute of Machinery and Materials

Doohyung Kim

Dongguk University

Dong Il Park

Korea Institute of Machinery and Materials

Dongil Park

Chungnam National University Hospital

Dongwon Yun

Daegu Gyeongbuk Institute of Science and Technology

Hwi-Su Kim

Korea Institute of Machinery and Materials

Dongil Park

Hanyang University

Gwang-Jo Chung

Korea Institute of Machinery and Materials

Cooperative Institutions

Korea Institute of Machinery and Materials

Seoul National University

Korea University

Korea Advanced Institute of Science and Technology

Hanyang University

Korea University of Science and Technology

Samsung (South Korea)

Yonsei University

Korea Institute of Industrial Technology

Pohang University of Science and Technology

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Design of a Hybrid Serial-Parallel Robot for Multi-Tasking Machining Processes (ICCAS 2005)

제어로봇시스템학회 국제학술대회 논문집 (2005)

Jinho Kyung Hyung-Suk Han Young-Ho Ha Gwang-Jo Chung

This paper presents a new hybrid serial-parallel robot(HSPR), which has six degrees of freedom driven by ball screw linear actuators and motored joints. This hybrid robot design presents a compromise between high rigidity of fully parallel manipulators and extended workspace of serial manipulators. The hybrid robot has a large, singularity-free workspace and high stiffness. Therefore, the presented kinematic structure of the hybrid robot is particularly suitable for multi-tasking machining processes such as milling, drilling, deburring and grinding. In addition to the machining processes, the hybrid robot can be used for welding, fixturing, material handling and so on. The study on design of the hybrid robot is performed. A kinematic analysis and mechanism description of the hybrid robot with six-controlled degree of freedom is presented. In the virtual design works by DADS, workspace and force analysis are discussed. A numerical model is treated to demonstrate our analysis and to determine the range of permissible extension of the struts. Also, we determine some important design parameters for the hybrid robot.

Work space

Ball screw

Serial manipulator

Robot calibration

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Study on Kinematic Optimization of a Combined Parallel-Serial Manipulator

2006 SICE-ICASE International Joint Conference (2006)

Kun-Woo Park Tae sung Kim MinKi Lee Jinho Kyung

This research develops the robot manipulator combined a parallel manipulator and wrist manipulator. The robot has a parallel manipulator with three linear actuators and a central axis for positional motions, i.e., x, y, and z and a wrist manipulator with two rotary actuators for rotational motions, i.e., yaw and pitch. The proposed parallel-serial typed manipulator which has between high stiffness of parallel manipulator and high flexibility of wrist manipulator is applied to in machining work such as cutting, milling, grilling, etc. This paper introduces the parallel-wrist typed robot as a machining center and an assembly robot for the complex shape. In order to achieve the optimal design, we define four parameters such as the radius of a base and a platform, the initial length of linear actuator, and the stroke of linear actuator. To determine the parameters, investigation is done i.e., kinematics, available workspace, and dexterity analysis. In results, we show four optimal design parameters of parallel manipulator meet a desired workspace including orientational work of wrist manipulator

Work space

Linear actuator

Mobile manipulator

Serial manipulator

10.1109/sice.2006.315425

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Citations (12)

Design and analysis of dual arm robot using dynamic simulation

Dong Il Park Chanhun Park Hyun Min Tae-Yong Choi Jinho Kyung

Nowadays, interest in dual arm robot system is increasing with industrial necessity. Because a dual arm robot which has two arms and torso joints can substitute human's work and it is also expected to do better performance than human in the industrial field, there are a lot of research about the design and control of dual arm robot. In the paper, a dual arm robot for part assembly is designed through workspace analysis and dynamic motion simulation. We decided the robot dimension including torso joints using workspace analysis and the specification of each actuating module using dynamic simulation.

Work space

Torso

Arm solution

Dynamic simulation

10.1109/urai.2013.6677452

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Citations (8)

A Study on the Magnetically Suspended Spindle with 16-pole Radial Magnets

Journal of the Korean Society for Precision Engineering (2002)

Jong-Kweon Park Seung-Kook Ro Jinho Kyung

Active magnetic hearings allow much high surface speed than conventional ball bearings and therefore greatly suitable for high speed cutting. This paper describes a design and test of an active magnetic bearing system with 16-pole radial magnets. The spindle is originally designed for a CNC lathe and driven by outer motor with 5.5 kW power and maximum speed 10,000 rpm. Considering static load condition and geometric restrictions, radial magnet is designed 16-pole type for smaller outer diameter of the spindle system. Dynamic system characteristics such as natural frequency, critical speed, stiffness, damping and system stabilities are simulated with a rigid rotor model including direct feedback controller. The designed spindle system is realized with digital PIDD controller to compensate phase lag of PWM amplifier and magnet coils. With levitation and step response experiment the control system characteristics are tested, and the spindle is rotated up to 10,000 rpm stab1y.

Magnetic bearing

Magnetic Levitation

Pole piece

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Real‐time synchronisation method in multi‐robot system

Electronics Letters (2014)

Tae-Yong Choi Hyun Min Dongil Park Chanhun Park Jinho Kyung

There is an increasing need for manufacturing systems to produce batches in small quantities. Such manufacturing systems are significantly difficult to develop with conventional automation equipment. Recently, several research groups have applied industrial dual‐arm robots to cell production lines. A synchronisation method for robots is necessary for the cell production process when robots work in a shared workspace. Conventional automation factories do not need this method because the main control system operates all machines or robots. However, the intended application for the developed robot is in small manufacturing environments which cannot install an expensive main control system. An inexpensive and high‐performance method with a simple digital in/out channel using EtherCAT is proposed. The developed method was validated for practical use on a cell production line.

10.1049/el.2014.2959

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Citations (11)

Teaching Method Without Work Space Limit for Industrial Robot

Journal of The Korean Society of Manufacturing Technology Engineers (2016)

Tae-Yong Choi Hyun Min Chanhun Park Dongil Park Doohyeong Kim

Teaching an industrial robot is still a dangerous and time-consuming process. It is expected that a robot can track a trajectory that is repeatedly taught by a human operator. Teaching a robot in joint space is easier than that in Cartesian space or a work space because the robot will never lose its stability when it is taught and operated in a joint space. However, it is very easy for a robot to lose its stability when it is taught in a work space. This is because of the singular points problem in kinematics for manipulators. Thus, experts should teach a given task to a robot in a careful manner. A new algorithm that avoids the problem of singular points is proposed. Using this proposed method, a user can freely teach a robot without the chance of instability in an entire work space.

Work space

Industrial robot

Cartesian coordinate robot

10.7735/ksmte.2016.25.6.492

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Analysis and experiments of a robot fish with a waving caudal fin with vertical phase differences

2021 20th International Conference on Advanced Robotics (ICAR) (2011)

Dongwon Yun Kyung-Soo Kim Soo Hyun Kim Jinho Kyung Sung‐Hee Lee

In this paper, motion of fishes with a caudal fin with vertical phase differences are analyzed to identify the effect of this kind of a caudal fin, some numerical model for this motion was made and some analyses have been investigated. To do this, torque and thrust from the fish motion were calculated based on the theoretical backgrounds from previous other researches. The results of a conventional caudal fin and the proposed fin were compared and it was found that fish with the proposed caudal fin can decrease the sum of torque exerted on the body maintaining the thrust force, which helps fish to save energy to propel and stare at something more stably under water. Some experiments were also performed and those were well accordance with theoretical analysis.

Fish fin

Fin

10.1109/icar.2011.6088554

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Runout Control of a Magnetically Suspended High Speed Spindle Using Adaptive Feedforward Method

International Journal of Precision Engineering and Manufacturing (2005)

Seung-Kook Ro Jinho Kyung Jong-Kwon Park

Feed forward

Magnetic bearing

Harmonic

Electromagnetic suspension

SIGNAL (programming language)

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Citations (2)

Synchronization method in the dual robot system

한국생산제조시스템학회 학술발표대회 논문집 (2014)

Tae-Yong Choi Hyun Min Dongil Park Chanhun Park Jinho Kyung

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Intuitive Programming of Dual-Arm Robot Tasks using Kinesthetic Teaching Method

Journal of Institute of Control Robotics and Systems (2016)

Peter Ki Kim Hyeonjun Park Ji‐Hun Bae Jae‐Han Park Dong‐Hyuk Lee

While anthropomorphic robots are gaining interest, dual-arm robots are widely used in the industrial environment. Many methods exist in order to implement bimanual tasks by dual-arm robot. However, kinesthetic teaching is used in this paper. This paper suggests three different kinesthetic teaching methods that can implement most of the human task by the robot. The three kinesthetic teaching methods are joint level, task level, and contact level teaching. The task introduced in this paper is box packing, which is a popular and complex task in industrial environment. The task is programmed into the dual-arm robot by utilizing the suggested kinesthetic teaching method, and this paper claims that most tasks can be implemented by using the suggesting kinesthetic teaching methods.

Kinesthetic learning

10.5302/j.icros.2016.16.0102

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Citations (1)