The Development of Deburring System using the Revolute-jointed Robot Manipulator with the Flexible Tool Holder

In this paper, a deburring system using the revolute-jointed robot manipulator with a flexible tool holder was developed for deburring automation. The flexible tool holder composed of the plunger with spring was developed for three degree-of-freedom operation. The flexible tool holder was applied for compensation of position errors during trajectory tracing or deburring ununiform workpiece. To reduce interacting forces between the high stiffness tool at the end effecter and the workpiece during deburring operation, it was designed to operate flexibly to the direction of tangent line on the revolute axis and to the direction of axis. In this thesis, using the deburring system and accessories of the deburring system, deburring experiments were performed. According to the experimental results, the capability of good deburring operation using the revolute-jointed manipulator robot was shown.제 1 장 서론 1 제 2 장 다관절 로봇 매니퓰레이터의 모델링 3 2.1 다관절 로봇 매니퓰레이터의 D-H(Denavit-Hartenberg) 규약에 의한 좌표설정 5 2.2 다관절 로봇 매니퓰레이터의 미끄럼 공간에서의 모델링 7 2.2.1 4절 링크기구를 이용한 어깨관절의 모델링 7 2.2.2 4절 링크기구를 이용한 팔꿈치관절의 모델링 9 2.2.3 4절 링크기구를 이용한 손목관절의 모델링 11 제 3 장 Flexible Tool Holder의 스프링 댐퍼 시스템 모델링 13 3.1 Tool holder의 컴플라이언스 13 3.2 Flexible Tool Holder의 모델링 15 3.3 Flexible Tool Holder의 구성 17 제 4 장 로봇 디버링 시스템의 구성 21 4.1 로봇 매니퓰레이터 21 4.2 로봇 콘트롤러 22 4.3 Flexible tool holder 24 4.4 F/T sensor and Dynamic data logger 25 4.5 A/D Conversion board 28 제 5 장 디버링 실험 및 고찰 31 5.1 가공 이론 31 5.2 일반 Tool Holder 및 Flexible Tool Holder 적용 실험 33 5.2.1 Chamfer 크기 2mm일 때 34 5.2.2 Chamfer 크기 2.5mm일 때 35 5.2.3 Chamfer 크기 3mm일 때 36 5.3 실험 결과 및 고찰 37 제 6 장 결 론 39 참고 문헌 4

Application Supports of Cyber-Infrastructure for Researchers

funder : 교육과학기술부agency : 기초기술연구회○ The continuous effort to support national public supercomputing and KREONET resources, the systematic strategic support program and education services are needed to discover and support brilliant research in Korea ○ The national and international science researches are bigger and fusing with other fields, the research method is changing into cyber infrastructure based environment. To manage effectively the change, the advanced research on the cyber-infrastructure have to be proposed. ○ The strategic support program : 70 newly selected program, 87 continuation program from 2008 - To 2009/11/10 the 111 induced SCI papers - The one of the core-supporting-scientist, Prof. Kwang-Soo Kim (POSTECH) published two papers on Nature ○ International collaboration research supports on Research Network : 60 programs ○ Advanced technology supports (Optimization/Parallelization) : 25 programs ○ Enducation supports : 574 persons with online and regular program, 765 events with VOD, two times GPGPU, one professional OpenMP educations ○ Application Software supports : 15 softwares for Structure, Thermal/Fluid Mechanics, Chemistry/Bio, Multipurpose Algebra, etc ○ User supports : 248 times that is 130% increased w.r.t. last year○ The strategic support program : 70 newly selected program , 87 continuation program from 2008 - To 2009/11/10 the 111 induced SCI papers - The one of the core-supporting-scientist, Prof. Kwang-Soo Kim (POSTECH) published two papers on Nature ○ International collaboration research supports on Research Network : 60 programs ○ Advanced technology supports (Optim ization/Parallelization) : 25 programs ○ Enducation supports : 574 persons with online and regular program , 765 events with VOD, two times GPGPU, one professional OpenMP educations ○ Application Software supports : 15 softwares for Structure, Thermal/Fluid Mechanics, Chemistry/Bio, Multipurpose Algebra, etc ○ User supports : 248 times that is 130% increased w.r.t. last yea