[ Special Issue : Engineering Design of ADBL ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29, No. 3, pp.216-226

ISSN: 2508-5107 (Online)

Print publication date 15 Jun 2020

Received 30 Mar 2020 Revised 24 Apr 2020 Accepted 28 Apr 2020

DOI: https://doi.org/10.7735/ksmte.2020.29.3.216

알까기 로봇(R-bot)의 설계

설희승^a ; 김준희^a ; 김영헌^a ; 조수한^a ; 주다훤^a ; 김성걸^a^{, *}

Design of an Automatic Stone Flicking Machine

Hee Seung Seol^a ; Jun Hee Kim^a ; Yeong Heon Kim^a ; Su Han Jo^a ; Da Hwon Ju^a ; Seong Keol Kim^a^{, *}

aDepartment of Mechanical System Design Engineering, Seoul National University of Science and Technology

Correspondence to: ^*Tel.: +82-2-970-6855 E-mail address: rhett@seoultech.ac.kr (Seong Keol Kim).

Abstract

Stone flicking is a game played on the baduk board. In this study, a stone flicking machine called R-robot is developed, which is an intelligent robotic system that can compete against a human player. The robot photographs the stadium and processes the images to find the best route for efficient competition. The targeting stone is identified using a camera and a path-searching algorithm selects the stone-flicking position. Based on inverse kinematics, the rotation angle of the motor is controlled to move the robot according to the given coordinates. A linear actuator adjusts the height of the flicking part, while a solenoid controls the power. ANSYS simulates the stress distribution of the robotic arm. The flicking direction is selected using C# and OPENCV. The Dynamixel RC servo motor controls the main joints of the robot. Arduino is applied for data processing and actuator control. Finally, the R-bot is manufactured.

Keywords:

Stone flicking, Robot arm, Dynamixel, Inverse kinematics, ANSYS, Vision

Acknowledgments

본 연구는 서울과학기술대학교 교내 일반과제 연구비 지원으로 수행되었습니다.

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