Parallel robots exhibit superior precision to serial robots. They operate with reduced power consumption due to load distribution among individual motors. However, symmetrical parallel robots employing a 1T2R structure encounter challenges with parasitic movements at the end-effector, leading to control complexities and application limitations. This study aimed to downsize the robot while ensuring its operational range by employing origami techniques. Addressing the inherent weakness of origami’s stiffness, various methods of material stacking and designed joints with diverse materials and thicknesses were proposed to meet specific angle requirements for each component. The developed control model was validated through simulations and experiments, effectively minimizing parasitic movements by verifying the robot"s motion.
The objective of this study was to present a rotary manipulating system driven by a rotary actuator based on twisted shape memory alloy (SMA) wires. The rotary actuator was composed of two oppositely twisted SMA wires connecting a rotor and a stator through a shaft. Two oppositely twisted SMA wires could generate bidirectional rotary motions upon actuation of each twisted SMA wire corresponding to the direction against the twist direction of each SMA wire. A manipulator was designed and fabricated by integrating manipulating arms, the rotary actuator, and a Hall effect magnetic rotary encoder which could measure the angular position of the rotary motion. We modeled and characterized the manipulator upon application of a ramp current input to each twisted SMA wire. A proportional-integral-derivative (PID) controller was designed and implemented to control the proposed rotary manipulator. Reference angular position tracking performances of the manipulator were evaluated with a series of experiments.
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Direct Ink Writing of Tungsten Planar Patterns by Extrusion-based Dispensing System Min-Hyeong Lee, Seung-Hyeon Choi, Jae-Wook Yu, Ji-Su Park, Hyuk-Chun Kwon, Ho-Chang Lee, Seong-Uk Oh, Seung-Gon Choi, In-Gu Choi, Gil-Yong Lee Journal of the Korean Society for Precision Engineering.2026; 43(1): 91. CrossRef
Industrial robot manipulators require high absolute position accuracy of the end effector to perform precise and complex tasks. However, manufacturing errors cause differences between nominal and actual parameters, and errors between the expected and actual positions of the end effector, resulting in undesired lower absolute position accuracy. Accordingly, to increase the absolute position accuracy of the end effector, kinematic calibration is required to correct the nominal parameters close to the actual parameters. However, in this study, redundancy of parameters may occur from the overlapping degrees of freedom of parameters in adjacent frames, which causes the problem of unnecessarily correcting many parameters in the optimization process. Thus, to solve this problem and use only the necessary parameters, this paper focuses on the linear relationship of redundant parameters and proposes a method of automatically discriminating and removing it through the Pearson Correlation Analysis. Additionally, through simulations on the two manipulator models, we verify the accuracy of redundancy of parameters determined by the proposed method, and demonstrate consistency and efficiency by comparing the results before and after redundancy removal.
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Development of an Agile Robotic Fixture for Door Trim Fixation Jaesoon Lee, Sang Hyun Park, Jong-Geol Kim, Minseok Kang, Murim Kim Journal of Korea Robotics Society.2025; 20(3): 422. CrossRef
Robot Kinematic Calibration Using a 3D Scanner Won Bo Jang, Junyoung Lee, Jong Hoon Park, Seok Hyeon Yoon, Ui Hun Sagong, Myun Joong Hwang, Murim Kim Journal of Korea Robotics Society.2025; 20(3): 360. CrossRef
In this study, we developed a hydraulic manipulator to assist firefighters and rescue personnel at disaster sites. In the design procedure, we analyzed the manipulator considering the hydraulic actuators as well as the manipulator kinematics and dynamics. For the user interface, a macro/manual operation concept was proposed to provide an effective response in emergency and disaster situations. To cope with abnormalities of the disaster site operator, a protocol for switching local/remote operations was developed. The effectiveness of the hydraulic manipulator and operating system was verified through task implementation experiment.
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An Emergency Cross-Control Method and Integrated Operation System for a Disaster-Safety Robot Jiho Lim, Junyoung Lee, Ju Seong Shin, Sang Hyun Park, Murim Kim Fire Science and Engineering.2025; 39(6): 113. CrossRef
In this paper, we designed and manufactured a new manipulator (less than 15 kg) to make the total weight of SCOBOT-200 (EOD robot: its platform weight is 35 kg) commercialized by FIRSTEC Co., Ltd. Link1 and Link2 of the manipulator were designed and fabricated using CFRP (Carbon Fiber Reinforced Plastics) material, and the other components were made of AL6061 material. The fabricated manipulator has 5-DOF, and the opening width of the gripper is more than 1520 mm. As a result of the characteristic test, the weight of manipulator is 14.5 kg, the length of the manipulator is 1500 mm, the payload when the manipulator extended is 8 kg, when folded is 20 kg. Thus, the manipulator manufactured can be used as a manipulator for a small EOD (Explosive Ordnance Disposal) robot.
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Research on the application of intelligent robots in explosive crime scenes Junwei Guo International Journal of System Assurance Engineering and Management.2023; 14(2): 626. CrossRef
Study on Output Characteristics of Printed Flexible Tactile Sensors Connected to Brass Terminals Jindong Kim, Yonghwan Bae, Inhwan Lee, Hochan Kim Journal of the Korean Society of Manufacturing Process Engineers.2020; 19(4): 65. CrossRef
This paper presents a finite-time tracking control for a robot manipulator in the presence of a modeling uncertainty and an external disturbance. To solve the large chattering phenomenon that is caused by the high switching gain of the slidingmode control, a novel second-order sliding-mode controller that generates a continuous control input is designed with a robust differentiator. The finite-time stability of the closed-loop system is ensured using a constructive Lyapunov-stability analysis. Finally, a numerical simulation of the 2-Axis Pan-Tilt system is performed to verify the effectiveness of the proposed controller.
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