[ Technical Papers ]

Journal of the Korean Society of Manufacturing Technology Engineers - Vol. 29, No. 6, pp.520-527

ISSN: 2508-5093 (Print) 2508-5107 (Online)

Print publication date 15 Dec 2020

Received 08 Oct 2020 Revised 15 Nov 2020 Accepted 18 Nov 2020

DOI: https://doi.org/10.7735/ksmte.2020.29.6.520

상용 산업용 로봇에 적용 가능한 조립용 그리퍼 개발

박동일^a ; 최태용^a ; 김휘수^a ; 송성혁^a ; 박찬훈^a^{, *}

Development of a Gripper for Assembly Process Automation Applicable to Commercial Industrial Robots

Dongil Park^a ; Taeyong Choi^a ; Hui-su Kim^a ; Sung-hyuk Song^a ; Chanhun Park^a^{, *}

aAdvanced Manufacturing Systems Research Division, Korea Institute of Machinery & Materials

Correspondence to: ^*Tel: +82-42-868-7127 E-mail address: chpark@kimm.re.kr (Chanhun Park).

Abstract

The demand for industrial robots has spread across several markets, ranging from the automobile market to the electric and electronic markets, including various IT products. Consequently, the demand for assembly process automation using robots is gradually increasing. Control technology for assembly processes using robots can be classified into two categories. The first method involves force control-based robot control, wherein the robot is actively directed for controlling assembly reaction forces. In the second method, assembly implementation is performed by attaching a passive compliance mechanism to the robot. However, in both methods, implementation of the assembly process through a commercial industrial robot can be difficult. To address this issue, we developed a gripper that can implement the assembly process through a commercial industrial robots which are operated in position-control based robot control. Furthermore, the obtained results are summarized in this paper.

Keywords:

Assembly, Gripper, Asembly robot, Industrial robot, Assembly process

Acknowledgments

이 연구는 “인간-로봇 공존 생산 환경을 위한 인간친화형 로봇기술 개발과제”(한국기계연구원)와 “모바일IT제품의 소형정밀부품 조립에 로봇 적용을 위한 공정기술, 그리퍼 및 조립원천기술 개발 과제”(산업부)의 지원으로 진행된 결과입니다.

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Dongil Park

Senior researcher in Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials.His research interest is Modular Robot and Driving Components of Robot Manipulator.

E-mail: parkstar@kimm.re.kr

Taeyong Choi

Senior researcher in Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials.His research interest is Real Time Control of Dual Arm Robot and Cooperative Robot.

E-mail: taeyongc@kimm.re.kr

Hui-su Kim

Senior researcher in Department of Robotics and Mechatronics, Korea Instritute of Machinery and Materials.His research interest is Design of Light Weight Robot.

E-mail: hskim81@kimm.re.kr

Sung-hyuk Song

Senior researcher in Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials.His research interest is Soft robotics, Universal Gripper and Soft morphing wheel.

E-mail: shsong@kimm.re.kr

Chanhun Park

Head, Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials.His research interest is Cooperative robot, Parallel Kinematic Robot, Assembly Robot and Robot for the disabled.

E-mail: chpark@kimm.re.kr