영상처리기술을 활용한 소형 물체 정렬 델타로봇에 관한 연구

• Published in: 한국생산제조학회지 Vol. 33; no. 6; pp. 365 - 375
• Main Authors: 정수진(Sujin Jeong), 강해원(Haewon Kang), 제형구(Hyeong-gu Je), 이승우(Seung-woo Lee), 심재홍(Jaehong Shim), 김기현(Kihyun Kim), 김효영(Hyo-young Kim)
• Format: Journal Article
• Language: Korean
• Published: 한국생산제조학회 01.12.2024
• Subjects: 기계공학; Delta-Robot; Precision loading; Image processing; Multi-Body dynamics analysis
• ISSN: 2508-5093; 2508-5107
• DOI: 10.7735/ksmte.2024.33.6.365

This study explores the use of delta robots in industrial automation, focusing on high-speed sorting and precision loading tasks. Characterized by three parallel axes and a central joint, delta robots provide rapid movement and precise positioning capabilities, making them highly demanded across various industrial settings. This study enhances robot performance through advancements in image processing and control algorithms by integrating these technologies to ensure precise operation and efficiency. A simplified environment employs a vision system to accurately identify the positions of stationary objects. The end-effector of the robot is optimized for precise placement through advanced positional control. A multi-body dynamics analysis is used to refine design parameters, and a robot with an integrated vision and control system is developed based on a verified, stable delta robot design. This integrated approach is expected to significantly advance the applications of robotics in industrial environments and thereby broaden the potential of automated systems. KCI Citation Count: 0